Handling robot

ABSTRACT

A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/882,119 filed on Aug. 5, 2022, which is a continuation-in-part ofU.S. patent application Ser. No. 17/862,579 filed on Jul. 12, 2022,which is a continuation-in-part of U.S. patent application Ser. No.17/651,328 filed on Feb. 16, 2022, which is a continuation-in-part ofU.S. patent application Ser. No. 17/385,811 filed on Jul. 26, 2021,which is a continuation of U.S. patent application Ser. No. 15/931,496filed on May 13, 2020, now patented as U.S. Pat. No. 11,104,514B2, whichis a continuation of PCT/CN2018/104654 filed on Sep. 7, 2018, which inturn claims the priority benefits of Chinese Patent Applications No.201711141498.3 and 201711135812.7, both filed on Nov. 14, 2017. Thecontents of the above identified applications are incorporated herein byreference in their entireties.

TECHNICAL FIELD

The present application relates to the field of intelligent warehousingtechnologies, and in particular, to a handling robot and a method forretrieving an inventory item based on the handling robot.

BACKGROUND

Intelligent warehousing is a link in the logistics process. Theapplication of intelligent warehousing ensures the speed and accuracy ofdata input in all aspects of warehouse management of inventory items,thereby ensuring that an enterprise can grasp the real data of theinventory in a timely and accurate manner, and reasonably maintain andcontrol inventory of the enterprise. It is also convenient to manage abatch, a shelf life, etc. of inventory items through scientific coding.Using a location management function, it is possible to grasp currentlocation of all inventory items in time, which is conducive to improvean efficiency of warehouse management.

A handling robot plays an important role in intelligent warehousing. Thehandling robot replaces manual handling of the inventory items. However,in the process of implementing the present application, the inventorfound that the quantity of the inventory items that can be loaded by anexisting handling robot equipped with a shelf is too few and theefficient is low.

SUMMARY

To solve the above technical problems, embodiments of the presentapplication provide a handling robot and a method for retrieving aninventory item based on the handling robot, which can load a largenumber of inventory items.

In order to solve the above technical problems, the embodiments of thepresent application provide the following technical solutions.

In a first aspect, there is provided a method for retrieving aninventory item based on a handling robot, where the handling robotincludes a storage frame; a material handling device that is installedon the storage frame and includes a telescopic arm and a manipulatorinstalled on telescopic arm; and the method for retrieving an inventoryitem includes: driving, by the telescopic arm, the manipulator to extendto a preset position of a warehouse shelf along a preset horizontalreference line; loading, by the manipulator that is remained on ahorizontal plane where the reference line is located, an inventory itemlocated at the preset position; driving, by the telescopic arm, themanipulator loaded with the inventory item to move to the storage framealong the reference line; unloading, by the manipulator that is remainedon the horizontal plane where the reference line is located, theinventory item to the storage frame.

In some embodiments, the handling robot further includes: a liftingassembly installed between the storage frame and the material handlingdevice; the method for retrieving an inventory item further includes:before the telescopic arm drives the manipulator to extend to the presetposition of the warehouse shelf along the reference line, driving, bythe lifting assembly, the material handling device to move in a verticaldirection so that the manipulator horizontally faces to the presetposition.

In some embodiments, the storage frame includes: a plurality of storageunits distributed in the vertical direction; the method for retrievingan inventory item further includes: before the telescopic arm drives themanipulator loaded with the inventory item to move to the storage framealong the reference line, driving, by the lifting assembly, the materialhandling device to move in the vertical direction so that the materialhandling device horizontally faces to a corresponding storage unit.

In some embodiments, the handling robot further includes: a movablechassis equipped with the storage frame; the method for retrieving aninventory item further includes: before the lifting assembly drives thematerial handling device to move in the vertical direction so that thematerial handling device horizontally faces to the preset position,causing the movable chassis to move to a preset range in front of thewarehouse shelf.

In some embodiments, the handling robot further includes: a detectiondevice installed on the material handling device; the method forretrieving an inventory item further includes: before the telescopic armdrives the manipulator to extend to the preset position of the warehouseshelf along the reference line, and after the lifting assembly drivesthe telescopic arm to move in the vertical direction so that thematerial handling device horizontally faces to the preset position,detecting, by the detection device, position information of the materialhandling device relative to the inventory item, and adjusting, by thehandling robot, a posture of fetching the inventory item according tothe position information of the material handling device relative to theinventory item.

In some embodiments, the movable chassis can move along its travellingdirection; the position information of the material handling devicerelative to the inventory item includes a first position offset betweenthe inventory item and the reference line in the travelling direction;the adjusting, by the handling robot, a posture of fetching theinventory item according to the position information of the materialhandling device relative to the inventory item, includes: causing themovable chassis to move along the travelling direction according to thefirst position offset, so that the first position offset is smaller thana first error value.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes a second position offsetbetween the inventory item and the reference line in the verticaldirection, the adjusting, by the handling robot, a posture of fetchingthe inventory item according to the position information of the materialhandling device relative to the inventory item, includes: driving, bythe lifting assembly, the material handling device to move in thevertical direction according to the second position offset, so that thesecond position offset is smaller than a second error value.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes a distance between theinventory item and the manipulator along the reference line; theadjusting, by the handling robot, a posture of fetching the inventoryitem according to the position information of the material handlingdevice relative to the inventory item, includes: adjusting an extensionamount of the telescopic arm along the reference line according to thedistance, so that the extension amount is larger than the distance.

In some embodiments, the detection device includes: an image acquisitiondevice; when the image acquisition device acquires image information ofthe inventory item, the detection device detects the positioninformation of the material handling device relative to the inventoryitem.

In some embodiments, a surface of the inventory item facing the handlingrobot is attached with a two-dimensional code label; when the imageacquisition device acquires the image information of the inventory item,information provided by the two-dimensional code label is collected, toobtain the position information of the material handling device relativeto the inventory item.

In some embodiments, the material handling device further includes: atemporary storage unit, the temporary storage unit being provided withthe telescopic arm and the detection device; the method for retrievingan inventory item further includes: before the telescopic arm drives themanipulator loaded with the inventory item to move to the storage framealong the reference line, driving, by the telescopic arm, themanipulator loaded with the inventory item to retract to the temporarystorage unit along the reference line; unloading, by the manipulatorthat is remained on the horizontal plane where the reference line islocated, the inventory item to the temporary storage unit; and loading,by the manipulator that is remained on the horizontal plane where thereference line is located, the inventory item located on the temporarystorage unit.

In some embodiments, the material handling device further includes: afork comprising the telescopic arm, the temporary storage unit, thedetection device and the manipulator; a support bracket installed on thestorage frame; a rotation assembly installed between the fork and thesupport bracket; the method for retrieving an inventory item furtherincludes: after the manipulator that is remained on the horizontal planewhere the reference line is located loads the inventory item located onthe temporary storage unit, and before the telescopic arm drives themanipulator loaded with the inventory item to move to the storage framealong reference line, driving, by the rotation assembly, the telescopicarm to rotate around the vertical direction to a preset angle, so thatthe material handling device is oriented towards the storage frame.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes: a deflection amountbetween the inventory item and the reference line in a horizontaldirection; the adjusting, by the handling robot, a posture of fetchingthe inventory item according to the position information of the materialhandling device relative to the inventory item includes: driving, by therotation assembly, the fork to rotate around the vertical directionaccording to the second position offset, so that the deflection amountis smaller than a third error value.

In some embodiments, the handling robot further includes: a deflectiondetection device connected between the fork and the support bracket; thedriving, by the rotation assembly, the fork to rotate around thevertical direction includes: when the deflection detection devicedetects that the fork has not yet rotated to the preset angle, driving,by the rotation assembly, the fork to continue to rotate; when thedeflection detection device detects that the fork has rotated over thepreset angle, driving, by the rotation assembly, the fork to rotate in areverse direction; and when the deflection detection device detects thatthe fork rotates to the preset angle, causing the rotation assembly tostop rotating.

In some embodiments, the deflection detection device includes a firstsensor provided with a first detection range; a second sensor providedwith a second detection range; when the first sensor detects the fork inthe first detection range, and the second sensor does not detect thefork in the second detection range, the deflection detection devicedetects that the fork has not yet rotated to the preset angle; when thefirst sensor does not detect the fork in the first detection range, andthe second sensor detects the fork in the second detection range, thedeflection detection device detects that the fork has rotated over thepreset angle; and when the first sensor detects the fork in the firstdetection range, and the second sensor detects the fork in the seconddetection range, the deflection detection device detects that the forkrotates to the preset angle.

In some embodiments, the inventory item includes a first inventory itemand a second inventory item; the preset position includes a first presetposition and a second preset position, and the first inventory item islocated at the first preset position, the second inventory item islocated at the second preset position; the storage frame includes afirst storage unit and a second storage unit; when there is the secondinventory item back behind the first inventory item, the method forretrieving an inventory item further includes: driving, by thetelescopic arm, the manipulator to extend to the first preset positionof the warehouse shelf along the reference line; loading, by themanipulator that is remained on the horizontal plane where the referenceline is located, the first inventory item located at the first presetposition; driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the first storage unit; unloading,by the manipulator that is remained on the horizontal plane where thereference line is located, the first inventory item to the first storageunit; driving, by the telescopic arm, the manipulator to move to thesecond preset position of the warehouse shelf along the reference line;loading, by the manipulator that is remained on the horizontal planewhere the reference line is located, the second inventory item locatedat the second preset position; driving, by the telescopic arm, themanipulator loaded with the second inventory item to move to the secondstorage unit along the reference line; and unloading, by the manipulatorthat is remained on the horizontal plane where the reference line islocated, the second inventory item to the second storage unit.

In some embodiments, the method for retrieving an inventory item furtherincludes: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the horizontal plane where the reference lineis located; driving, by the telescopic arm, the manipulator to beremained on the horizontal plane where the reference line is located andto load the first inventory item located at the first storage unit;driving, by the telescopic arm, the manipulator loaded with the firstinventory item to move to the first preset position of the warehouseshelf along the reference line; and unloading, by the manipulator thatis remained along the reference line, the first inventory item to thefirst preset position of the warehouse shelf.

In an embodiment, the method for retrieving an inventory item furtherincludes: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the reference line; driving, by the telescopicarm, the manipulator to be remained on the horizontal plane where thereference line is located, to load the first inventory item located atthe first storage unit; driving, by the telescopic arm, the manipulatorloaded with the first inventory item to move to the second presetposition of the warehouse shelf along the reference line; and unloading,by the manipulator that is remained on the horizontal plane where thereference line is located, the first inventory item to the second presetposition of the warehouse shelf.

In some embodiments, the method for retrieving an inventory item furtherincludes: uploading current position information of the first inventoryitem.

Compared with the prior art, the present application provides a methodfor retrieving an inventory item based on a handling robot, where thehandling robot includes: a storage frame; and a material handling deviceinstalled on the storage frame, the material handling device including atelescopic arm and a manipulator installed on the telescopic arm; themethod for retrieving an inventory item includes: driving, by thetelescopic arm, the manipulator to extend to a preset position of awarehouse shelf along a preset horizontal reference line; loading, bythe manipulator that is remained along the reference line, the inventoryitem located at the preset position; driving, by the telescopic arm, themanipulator loaded with the inventory item to move to the storage framealong the reference line; unloading, by the manipulator that is remainedalong the reference line, the inventory item to the storage frame. Theabove method can realize moving the inventory item into the storageframe along the preset horizontal reference line, occupying a smallspace of the storage frame in the vertical direction, and loading alarger number of inventory items.

In a second aspect, there is provided a handling robot, including: amovable chassis; a storage frame, installed on the movable chassis, andprovided with a plurality of storage units distributed in a verticaldirection, each storage unit being configured to place an inventoryitem; a material handling device for transporting the inventory itembetween a warehouse shelf and any one of the storage units, the materialhandling device having a preset horizontal reference line, andcomprising a pusher assembly that is movable relative to the storageframe along the reference line; and a lifting assembly for driving thematerial handling device to move in the vertical direction, so that anyone of the storage units is located on the reference line; when one ofthe storage units is located on the reference line, the pusher assemblypushes the inventory item to a corresponding storage unit along thereference line, or the pusher assembly pulls the inventory item locatedat the corresponding storage unit away therefrom

In some embodiments, the material handling device further includes atemporary storage unit; the temporary storage unit is configured totemporarily store an inventory item that is to be transported betweenthe warehouse shelf and any one of the storage units, and the temporarystorage unit has the reference line; when one of the storage units islocated on the reference line, the pusher assembly may push an inventoryitem located on the temporary storage unit to a corresponding storageunit along the reference line, or the pusher assembly may pull aninventory item on a corresponding storage unit to the temporary storageunit.

In some embodiments, the material handling device further includes atelescopic arm.

The telescopic arm includes an outer arm section and an inner armsection, the outer arm section is fixedly installed to the temporarystorage unit, and the inner arm section is installed to the outer armsection; the pusher assembly is installed to the inner arm section; theinner arm section can move relative to the outer arm section along thereference line, so that the pusher assembly can move relative to thestorage frame along the reference line.

In some embodiments, the pusher assembly includes a manipulator; themanipulator is installed at an end of the inner arm section, so that themanipulator can move relative to the storage frame along the referenceline, and the manipulator can unfold or fold relative to the inner armsection; when the manipulator folds relative to the inner arm section,an end of the inner arm section installed with the manipulator moves toanother side from one side of the inventory item on the storage unit orthe warehouse shelf that are located on the reference line, so that themanipulator unfolded relative to the inner arm section pulls acorresponding inventory item to the temporary storage unit.

In some embodiments, the pusher assembly further includes a fixed pushrod; the fixed push rod is installed at an end of the inner arm sectionaway from the manipulator, so that the fixed push rod can move relativeto the storage frame along the reference line.

The fixed push rod is configured to push the inventory item placed onthe temporary storage unit to the storage unit located on the referenceline, or to push the inventory item placed on the temporary storage unitto an empty position of the warehouse shelf.

In some embodiments, the pusher assembly further includes a push roddriving device; the push rod driving device is connected to themanipulator, and is configured to drive the manipulator to rotaterelative to the inner arm section, so that the manipulator can fold orunfold relative to the inner arm section.

In some embodiments, the telescopic arm further includes a middle armsection, a flat belt pulley, and an open-loop flat belt; the middle armsection is installed between the inner arm section and the outer armsection, and the middle arm section can move relative to the outer armsection along the reference line, and the inner arm section can moverelative to the middle arm section along the reference line; the flatbelt pulley is installed on the middle arm section; a middle part of theopen-loop flat belt is arranged to be bent and sleeved over the flatbelt pulley, so that both ends of the open-loop flat belt are oppositelyarranged, one end being fixedly connected to the outer arm section, andthe other end being fixedly connected to the inner arm section; when themiddle arm section moves at a first speed relative to the outer armsection along the reference line, the inner arm section moves at asecond speed relative to the outer arm section along the reference line,and the second speed is twice the first speed.

In some embodiments, the material handling device includes a supportbracket, a fork, and a rotation assembly; the support bracket isinstalled on the movable chassis, and the lifting assembly is configuredto drive the support bracket to move in the vertical direction; the forkincludes the temporary storage unit, the telescopic arm and the pusherassembly; the rotation assembly includes a first rotating member and asecond rotating member; the first rotating member is installed to thesupport bracket; the second rotating member is installed to thetemporary storage unit, and can rotate in a vertically set rotation axisrelative to the first rotating member, so that the fork can rotatearound the rotation axis relative to the support bracket.

In some embodiments, the material handling device further includes adetection device; the detection device is configured to detect whether acorresponding warehouse shelf or storage unit is located on thereference line.

In some embodiments, the detection device includes an image acquisitiondevice; the image acquisition device is configured to acquire imageinformation of the inventory item to detect whether the correspondingwarehouse shelf or storage unit is located on the reference line.

Compared with the prior art, in the handling robot of the embodiment ofthe present application, the handling robot includes: a movable chassis;a storage frame installed on the movable chassis, and provided with aplurality of storage units distributed in a vertical direction, eachstorage unit being configured to place an inventory item; a materialhandling device, configured to transport the inventory item between awarehouse shelf and any one of the storage units, having a presethorizontal reference line, and including a pusher assembly, the pusherassembly being movable relative to the storage frame along the referenceline; a lifting assembly for driving the material handling device tomove in a vertical direction, so that any one of the storage units islocated on the reference line; when one of the storage units is locatedon the reference line, the pusher assembly can push the inventory itemto a corresponding storage unit along the reference line, or pull aninventory item located on a corresponding storage unit away. Aninventory item can be pushed into or pulled from the storage unit in theabove manner, so that a distance between each two adjacent storage unitsis small, and more storage units can be placed in the handling robotwith the same vertical height, increasing the maximum load capacity.

BRIEF DESCRIPTION OF DRAWINGS

One or more embodiments are exemplified by drawings corresponding to theembodiments. These exemplary descriptions do not constitute limitationson the embodiments. Elements with the same reference numerals in thedrawings represent similar elements. Figures in the drawings are notdrawn to scale unless otherwise stated.

FIG. 1 is a schematic structural diagram of a handling robot accordingto an embodiment of the present application;

FIG. 2 is an exploded schematic diagram of the handling robot shown inFIG. 1 ;

FIG. 3 is an exploded schematic diagram of a movable chassis of thehandling robot shown in FIG. 2 ;

FIG. 4 is a schematic structural diagram of a standing frame and alifting assembly of the handling robot shown in FIG. 2 ;

FIG. 5 is a schematic structural diagram of a driving wheel assembly ofthe movable chassis shown in FIG. 3 ;

FIG. 6 is a schematic structural diagram of a material handling deviceof the handling robot shown in FIG. 2 ;

FIG. 7 is an exploded schematic diagram of the material handling deviceshown in FIG. 6 ;

FIG. 8 is a structural schematic diagram of part of a fork of thematerial handling device shown in FIG. 7 ;

FIG. 9 is a schematic structural diagram of a middle arm section and aninner arm section driving assembly of the fork shown in FIG. 8 ;

FIG. 10 is a schematic structural diagram of the material handlingdevice shown in FIG. 6 from another angle, in which part of thestructure of the material handling device is omitted; and

FIG. 11 is a flowchart of a method for retrieving an inventory itemaccording to another embodiment of the present application.

DESCRIPTION OF EMBODIMENTS

In order to facilitate understanding of the present application, thepresent application will be described in more detail below withreference to the drawings and specific embodiments. It should be notedthat when an element is expressed as “fixed” to another element, it maybe directly on the another element, or there may be existed one or moreintermediate elements therebetween. When an element is expressed as“connected” to another element, it may be directly connected to theanother element, or there may be existed one or more intermediateelements therebetween. The terms “vertical”, “horizontal”, “left”,“right”, “inner”, “outer”, “first”, “second”, “third” and similarexpressions used in the description of the present application are forillustrative purposes only. The term “connected” has the same meaning asthe term “attached” or “coupled”, and these terms are interchangeable.The term “install” has a same meaning as the term “mount”, including ameans of directly or indirectly installing. The term “indirectlyinstalled or connected” means there may be existed one or moreintermediate elements therebetween. The expression “A is fixedlyinstalled or connected to B” means that “A is installed or connected tothe B in an immovable way relative to B”. The expression “A is connectedor mounted to B” includes a means that “A may be movably connected ormounted to B”, or a means that “A may be fixedly connected or mounted toB”. The number in the “step 1”, “step 2”, . . . , “step N” used in thedescription of the present application is for illustrative purposesonly, and it does not mean the unique or only order in which a processperforms.

Unless otherwise defined, all technical and scientific terms used in thedescription of the present application have the same meaning as commonlyunderstood by a person skilled in the art to which the presentapplication pertains. The terms used in the description of the presentapplication is only for the purpose of description of specificembodiments, and are not intended to limit the present application. Theterm “and/or” used in the description of the present applicationincludes any and all combinations of one or more related items listed.

Referring to FIGS. 1 and 2 , an embodiment of the present applicationprovides a handling robot 100, which can be applied to an intelligentwarehousing system, an intelligent logistics system, or an intelligentsorting system, etc. In this embodiment, the handling robot 100 appliedto the intelligent warehousing system will be taken as an example fordetailed description.

The intelligent warehousing system is provided with a warehouse shelf,and the warehouse shelf is provided with a preset position for placingan inventory item. The preset position is located at a particularheight. It should be noted that a management server may store a mapwhich contains information about the particular height of the presetposition. It should be understood that the shelf in embodiments of thepresent invention is usually stationary in a facility (e.g., a warehouseor a factory or distribution center) and may be a rack with multipleshelves or a rack with a single shelf. It will take the shelf which isprovided in a warehouse as an example in the following description.However, the facility in which the shelf (shelves) is (are) disposed isnot limited to the warehouse. The shelf or shelves may also be arrangedin other facility, such as a factory. In some other embodiments, theshelf or shelves may also be provided on a ground of an outdoor area.

It should be noted that the inventory item may be a single object ormultiple objects. It should be understood that the inventory item may bein the form of a container, a box, or a pallet, which contains or holdsthe single or multiple objects and may be pulled or pushed by the pusherassembly. However, it is not limited to the forms of the inventory item.

The handling robot 100 includes a movable chassis 10, a storage frame20, a material handling device 30, and a lifting assembly 40. Thestorage frame 20, the material handling device 30 and the liftingassembly 40 are all installed to the movable chassis 10.

The movable chassis 10 is configured to realize a moving function of thehandling robot 100.

Refer to FIG. 3 together, the movable chassis 10 includes a bracketassembly 11, a driven wheel 12, a driving wheel assembly 13 and aguiding device 14. The driven wheel 12, the driving wheel assembly 13and the guiding device 14 are all installed to the bracket assembly 11.

The bracket assembly 11 is assembled by welding a steel beam, a steelplate and a skin, and the bracket assembly 11 includes a base 110 and astanding frame 111. The standing frame 111 is installed to the base 110.There are many ways to install the standing frame 111. For example, thestanding frame 111 may be installed directly or indirectly on the base110 by fasteners, such as screwed nuts. The standing frame 111 may alsobe integrally formed with the base 110, and therefore installing on thebase 110.

The base 110 includes a base body 112, a shaft seat 113, and a shockabsorber bracket 114. The shaft seat 113 is installed to the base body112, and the shock absorber bracket 114 is also installed to the basebody 112.

The base body 112 is a horizontally arranged rectangular plate having asymmetrical axis S1, and the base body 112 includes a first surface 1120and a second surface 1121 that are oppositely arranged. It can be seenfrom FIG. 3 that the first surface 1120 is a lower surface of the basebody 112, and the second surface 1121 is an upper surface of the basebody 112.

The base body 112 is provided with a driven wheel installation socket1122, a driving wheel installation socket 1124, and a guiding deviceinstallation socket 1123.

The driven wheel installation socket 1122 is provided on a first surface1120 of the base body 112, and is configured to install the driven wheel12.

The driving wheel installation socket 1124 is arranged as penetratingthrough the first surface 1120 and the second surface 1121 of the basebody 112, and the driving wheel installation socket 1123 is configuredto accommodate the driving wheel assembly 13.

The guiding device installation socket 1123 is arranged as penetratingthrough the first surface 1120 and the second surface 1121 of the basebody 112, and the guiding device installation socket 1123 is configuredto install the guiding device 14.

The shaft seat 113 and the shock absorber bracket 114 are both installedto the second surface 1121 of the base body 112, and both the shaft seat113 and the shock absorber bracket 114 are configured to install thedriving wheel assembly 13 together.

It should be noted that, by providing the driven wheel installationsocket 1122 for installing the driven wheel 12 and the driving wheelinstallation socket 1124 for accommodating the driving wheel assembly13, a ground clearance and a centroid height of the movable chassis 10can be controlled, so that the grip of the movable chassis 10 isimproved, and the stability of movement of the movable chassis 10 isimproved.

Refer to FIGS. 1 and 2 , the base 110 includes a housing 51 configuredto house at least one of the base body 112, the shaft seat 113, theshock absorber bracket 114, and the guiding device 14. It can be seenfrom FIG. 1 that a compartment 511 is formed by an upper surface of thehousing 51, and at least a part of the material handling device 30 canbe accommodated in the compartment 511 when the material handling device30 is lowered to the lowest position. It is obvious from FIG. 1 that thecompartment 511 is provided with a physical bottom surface. In anembodiment, the compartment 511 is not a through hole. The base body 112is disposed beneath the physical bottom surface, as shown in FIGS. 1-2 .When the handling robot is disposed on a ground (e.g., a floor of anindoor area in the warehouse), the physical bottom surface is over orabove the ground. For example, the physical bottom surface is fivecentimeters above the ground. In an embodiment, the compartment 511 isprovided with a cavity or a depression, as long as the bottom or lowersurface of the compartment 511 is lower than a surrounding area. Forexample, as shown in FIG. 1 , when the material handling device 30 islowered to a particular height (e.g., the lowest height), a part of thebottom of the material handling device 30 is in the compartment 511. Inthis way, the material handling device 30 can drop to a lower position.

It should be noted that when the material handling device 30 isaccommodated in the compartment 511, it is not required that thematerial handling device 30 is place on the compartment 511 or supportedby the compartment 511. The lower part of the material handling device30 is within a space enclosed by the compartment 511 when the materialhandling device 30 is lowered to the lowest position.

Refer to FIG. 4 together, the standing frame 111 is installed to thesecond surface 1121 of the base body 112. The standing frame 111includes vertical columns 115 and horizontal columns 116 installed tothe vertical columns 115.

The vertical columns 115 is vertically arranged and installed to thesecond surface 1121 of the base body 112. Two vertical columns aresymmetrically distributed relative to a symmetrical axis S1.

A surface of each vertical column 115 facing another vertical column 115is provided with a guide rail along a vertical direction. The materialhandling device 30 is installed to guide rails of the two verticalcolumns, so that the material handling device 30 can move relative tothe vertical columns 115 along the vertical direction.

It should be understood that, according to an actual situation, thenumber of the guide rail is not limited to two. For example, the numberof the guide rail may be one, three, or more than three, as long asthere is at least one.

The horizontal columns 116 are horizontally arranged and are connectedbetween two vertical columns 115. A plurality of horizontal columns 116are distributed in a vertical direction.

In an embodiment, each of the horizontal columns 116 is integrallyformed with the vertical columns 115. In some other embodiment, each ofthe horizontal columns 116 is fixedly attached to the vertical columns115 by a fastener, such as a screwed nut.

As shown in FIG. 4 , the standing frame 111 further includes a tophorizontal bar 117 configured to connect the two vertical columns 115. Awireless communication unit 118 is provided on the top horizontal bar117. The wireless communication unit 118 includes an antenna forreceiving or sending wireless data. It can be seen from FIGS. 1 and 2that the top horizontal bar 117 is, at least in part, enclosed by ahousing 53.

As shown in FIGS. 1 to 4 , each of the two vertical columns 115 is, atleast in part, enclosed by a housing 52.

Four driven wheels 12 are distributed in a first rectangle, and one ofsymmetrical axes of the first rectangle coincides with the symmetricalaxis S1. The four driven wheels 12 support the bracket assembly 11.

It should be understood that, according to an actual situation, thenumber of the driven wheel 12 is not limited to four, for example, thenumber of the driven wheel 12 may also be three, four or more than four,as long as there are at least three.

In this embodiment, the driven wheel 12 is a universal wheel.

It should be understood that, according to an actual situation, thedriven wheel 12 is not limited to a universal wheel. For example, thedriven wheel 12 may be a wheel body with a steering bracket (refer to arear wheel set of an automobile), as long as the driven wheel 12 has asteering function.

The driving wheel assembly 13 is configured to drive the movable chassis10 to move. The driving wheel assembly 13 is installed to the base 110.Two driving wheel assemblies 13 are symmetrically distributed relativeto the symmetrical axis S1, and any one of the driving wheel assemblies13 is located between two driven wheels 12.

Referring to FIG. 5 together, each driving wheel assembly 13 includes adriving wheel bracket 130, a driving wheel body 131, a hub drivingdevice 132, and a hub reduction device 133. The driving wheel body 131is installed to the driving wheel bracket 130, and the driving wheelbody 131 can rotate around a rotation axis S2 relative to the drivingwheel bracket 130. The rotation axis S2 is horizontal and perpendicularto the symmetrical axis S1, so that the movable chassis 10 can bemovable. An output end of the hub driving device 132 is connected to aninput end of the hub reduction device 133, and an output end of the hubreduction device 133 is connected to the driving wheel body 131 by aflange. The hub driving device 132 is configured to provide a firstdriving force for rotation of the driving wheel body 131 around therotation axis S2. The hub reduction device 133 is configured to transmitthe first driving force.

It should be understood that, according to an actual situation, the hubreduction device 133 may be omitted. In some embodiments, the output endof the hub driving device 132 is directly connected to the driving wheelbody 131 by a flange, so that the driving wheel body 131 can rotatearound the rotation axis S2.

It should be noted that the output end of the hub reduction device 133or the output end of the hub driving device 132 is connected to thedriving wheel body 131 by a flange, which can improve the reliability ofthe connection to the driving wheel body 131 and realize a stableinstallation of the driving wheel body 131, not easy to be detached.

The hub driving devices 132 of two driving wheel assemblies 13 are usedto perform independent driving controls. Two driving wheel bodies 131may have different rotational speeds, so that the movable chassis 10turns toward a side of one driving wheel body 131 with a lowerrotational speed, to realize a turning function of the movable chassis10.

Furthermore, the driving wheel bracket 130 includes a hub bracket 134,an axle body 135, and a shock absorber 136. One end of the driving wheelbracket 130 is arranged near the first axis S1, and the other end isarranged away from the first axis S1. The driving wheel body 131 isinstalled to an end of the hub bracket 134 away from the symmetricalaxis S1. The axle body 135 is connected to the hub bracket 134, and theaxle body 135 is arranged to be parallel to the symmetrical axis S1. Theaxle body 135 is installed to the shaft seat 113 so that the drivingwheel assembly 13 can rotate around the axle body 135 relative to thebase body 112. One end of the shock absorber 136 is hinged to an end ofthe shock absorber bracket 114 away from the base body 112, so that theshock absorber 136 can rotate around the first axis S4 that is parallelto the axle body 135, relative to the base body 112; and the other endof the shock absorber 136 is hinged to an end of the hub bracket 134away from the axle body 135, so that the shock absorber 136 can rotatearound the second axis S3 that is parallel to the axle body 135,relative to the hub bracket 134. The shock absorber bracket 114, the hubbracket 134, and the shock absorber 136 form a triangular structure.When the movable chassis 10 turns, the shock absorber 136 can buffer apart of the eccentric force, to further improve the stability ofmovement of the movable chassis 10.

In this embodiment, the hub driving device 132 is a first motor.

It should be understood that, according to an actual situation, the hubdriving device 132 is not limited to the first motor. For example, thehub driving device 132 may also be an air motor, a hydraulictransmission system, etc.

The guiding device 14 is installed to the second surface 1121 of thebase body 131 through a guiding device bracket. In this embodiment, theguiding device 14 is a camera, and a lens of the camera is orientedtoward the guiding device installation socket 1124, for identifying atwo-dimensional code attached on the ground so that the movable chassis10 travels along a preset path.

It should be understood that, according to an actual situation, theguiding device 14 is not limited to the camera. For example, the guidingdevice 14 may be a laser guiding device that travels along a laser beam.For another example, the guiding device 14 is a short wave receivingdevice, which realizes a guiding function by receiving a specific shortwave signal, and so on.

Refer back to FIG. 2 , the storage frame 20 includes a vertical pole 21,a horizontal pole 22 and a storage unit 23. The vertical pole 21 isvertically arranged and installed to the second surface 1121 of the basebody 112. Two vertical poles 21 are symmetrically distributed relativeto the symmetrical axis S1. The horizontal pole 22 is horizontallyarranged and is connected between the two vertical poles 21. Both thenumber of the horizontal pole 22 and the number of the storage unit 23correspond to the number of the horizontal column 116. One horizontalpole 22 and one corresponding horizontal column 116 support onecorresponding storage unit 23, and each storage unit 23 is provided foraccommodating an inventory item.

A vertical height of any one of horizontal poles 22 is lower than avertical height of a corresponding horizontal column 116, so that acorresponding storage unit 23 inclines from a side at which thecorresponding horizontal column 116 is located to a side at which acorresponding horizontal pole 22 is located, so that an inventory itemplaced in the storage unit is not easy to slip off from the side atwhich the horizontal column 116 is located.

Further, each storage unit 23 includes a plate body 24 and a surroundingplate 25. The plate body 24 are support jointly by the horizontal pole22 and the horizontal column 116. The surrounding plate 25 is arrangedaround an edge of the plate body 24, and provides an opening 26 at aside near the horizontal column 116. The surrounding plate 25 canprevent an inventory item sliding off from the plate body 24, and theinventory item can be pushed into or pulled away from the plate body 24through the opening 26. The material handling device 30 is configured totransport an inventory item between the warehouse shelf and any one ofthe storage units of the storage frame 20.

It should be noted that the number of the opening is not limited. In anembodiment, as shown in FIGS. 1-2 , the plate body 24 is a plate with aflat upper surface, and each storage unit 23 has a single opening 26. Insome other embodiment, the plate body 24 includes two plates spacedapart from each other. It may be possible that two openings areprovided. For example, one opening is provided at a side near thehorizontal column 116, and one opening is provided at a side away fromthe horizontal column. The inventory item can be pushed into or pulledaway from the plate body 24 by the material handling device 30 throughthe opening near the horizontal column 116.

The structure or shape of the plate body 24 is not limited in thepresent invention, as long as the plate body 24 can support a weight ofthe inventory item. In an embodiment, as shown in FIGS. 1-2 , the platebody 24 includes a flat upper surface. In some other embodiment, theupper surface of the plate body 24 is not flat. For example, the uppersurface of the plate body 24 is rough and uneven.

In an embodiment, the plate body 24 is integrally formed with thehorizontal column 116 supporting the plate body 24. In some otherembodiments, the plate body 24 is fixedly attached on the horizontalcolumn 116 supporting the plate body 24 by fasteners, such as screwednuts.

In an embodiment, the vertical pole 21 and the horizontal pole 22 can beomitted. In an embodiment, each storage unit 23 is wholly supported bythe corresponding horizontal column 116. In an embodiment, a storageunit 23 disposed at a lowest height is supported by both the horizontalcolumn 116 and the housing 51, and other storage units 23 are whollysupported by the horizontal column 116.

The material handling device 30 can move along the vertical direction sothat a position of the material handling device 30 is horizontallyaligned with any one of the storage units. The material handling device30 is configured to transport the inventory item between a presetposition of the warehouse shelf and any one of the storage units.

It can be seen from FIGS. 1-4 that the storage frame 20 and the materialhandling device 30 are disposed at different sides of the verticalcolumns 115. For example, as shown in FIGS. 1-2 , the two verticalcolumns 115 form a vertical plane. The material handling device 30 isdisposed at a left side of the vertical plane, and the storage frame 20is disposed at a right side of the vertical plane.

Refer to FIGS. 6 and 7 together, the material handling device 30includes a support bracket 31, a fork 32, a rotation assembly 33, and adetection device 34. The rotation assembly 33 is installed between thesupport bracket 31 and the fork 32, so that the fork 32 can rotatearound a vertically set rotation axis S5 relative to the support bracket31. The detection device 34 is configured to detect position informationof the material handling device 30 relative to the inventory item.

The support bracket 31 is assembled by welding a steel beam and a steelplate, and is a horizontal arranged plate structure. An end of thesupport bracket 31 near the standing frame 111 is provided with a slide310. Two slides 310 are symmetrically distributed relative to thesymmetrical axis S1. Each slide 310 is installed to a correspondingguide rail, and moves along the guide rail. The fork 32 installed to thesupport bracket 31 moves along the vertical direction relative to thestorage frame 20.

The fork 32 is configured to transport the inventory item between thepreset position of the warehouse shelf and any one of the storage units.The fork 32 includes a temporary storage unit 35, a telescopic arm 36,and a pusher assembly 37. The temporary storage unit 35 has a referenceline S6. The telescopic arm 36 is installed to the temporary storageunit 35, and is separated from the reference line S6 by a presetdistance. The pusher assembly 37 is installed to the telescopic arm 36.The telescopic arm 36 drives the pusher assembly 37 to move in adirection parallel to the reference line S6. The components of the fork32 are configured to rotate relative to the support bracket when thefork 32 rotates.

When the fork 32 moves along the vertical direction, any one of thestorage units may locates on the reference line S6. In order to bealigned with the storage units, the fork 32 may move to a same height asany one of the storage units.

When one of the storage units is located on the reference line S6, thepusher assembly 37 may push the inventory item located on the temporarystorage unit 35 to the corresponding storage unit 23 along the referenceline S6, or the pusher assembly 37 may pull the inventory item on thecorresponding storage unit 23 to the temporary storage unit 35.

In an embodiment, the pusher assembly 37 is further configured to pullthe inventory item located on the warehouse shelf to the temporarystorage unit 35, or push the inventory item located on the temporarystorage unit 35 to a preset position of the warehouse shelf.

As shown in FIGS. 6-8 , the telescopic arm 36 (or pusher assembly 37) isunable to lift relative to the temporary storage unit 35. The telescopicarm 36 (or pusher assembly 37) is liftable relative to the standingframe 111 via the support bracket 31. However, it should be understoodthat, according to an actual situation, in the process of transportingthe inventory item on the warehouse shelf to the temporary storage unit35, the fork 32 is not limited to using the pusher assembly 37 to pullthe inventory item on the warehouse shelf to an upper surface of thetemporary storage unit 35, or to push the inventory item on the uppersurface of the temporary storage unit 35 to a preset position on thewarehouse shelf. In some embodiments, the fork 32 further includes apickup component for transporting the inventory item on the warehouseshelf to the temporary storage unit. For example, the pickup componentclamps the inventory item on the warehouse shelf to the temporarystorage unit 35 by clamping. For another example, the pickup componentlifts the inventory item from the warehouse shelf to the temporarystorage unit 35 by lifting, and so on.

The temporary storage unit 35 is a horizontally arranged rectangularplate structure with the reference line S6. The temporary storage unit35 is configured to temporarily store an inventory item to betransported between the warehouse shelf and any one of the storage units23.

For example, in the process of transporting the inventory item from thewarehouse shelf to the storage frame 20, the fork 32 first transportsthe inventory item on the warehouse shelf to the temporary storage unit35, and then the fork 32 transports the inventory item on the temporarystorage unit 35 to any one of the storage units 23 of the storage frame20. And vice versa, and due to word limitations, no description isrepeated here.

It should be noted that, for the provision of the temporary storage unit35, in a first aspect, it can transport an inventory item on one storageunit 23 to another storage unit 23, having a wide range of applications.In a second aspect, it can be realized that any storage unit 23 does notneed to be located on the reference line S6 with the warehouse shelf atthe same time, and there is no need for adaptive adjustment between thewarehouse shelf and the storage frame 20, which makes the handling robot100 has strong compatibility and can be adapted to differentenvironments. Since there is no need to modify the warehouse shelf andthe storage frame 20, the economy is better. In a third aspect, thetemporary storage unit 35 can also store the inventory item for a longtime, so that the maximum load capacity of the handling robot 100 isexpanded.

Two telescopic arms 36 are symmetrically distributed relative to thereference line S6.

It should be understood that, according to an actual situation, thenumber of the telescopic arms 36 is not limited to two, for example, thenumber of the telescopic arm 36 may be one.

Each telescopic arm 36 includes an outer arm section 360, a middle armsection 361, an inner arm section 362, a middle arm section drivingassembly 363, and an inner arm section driving assembly 364. The outerarm section 360 is installed to the temporary storage unit 35, and themiddle arm section 361 is installed to the outer arm section 360. Themiddle arm section 361 can move relative to the outer arm section 360along the reference line S6. The inner arm section 362 is installed tothe middle arm section 361, and the inner arm section 362 can moverelative to the middle arm section 361 along the reference line S6. Themiddle arm section driving assembly 363 is configured to drive themiddle arm section 361 to move relative to the outer arm section 360along the reference line S6, and the inner arm section driving assembly364 is configured to drive the inner arm section 362 to move relative tothe middle arm section 361 along the reference line S6.

When the telescopic arm 36 is compressed, the inner arm section 362overlaps with the outer arm section 360.

When the telescopic arm 36 extends, the inner arm section 362 isseparated from the outer arm section 360 in a direction along thereference line S6.

It should be understood that, according to an actual situation, themiddle arm section 361 and the inner arm section driving assembly 364may be omitted. In some embodiments, the inner arm section 362 isinstalled to the outer arm section 360, and the inner arm section 362can move relative to the outer arm section 360 along the reference lineS3. The middle arm section driving assembly 363 is configured to drivethe inner arm section 362 to move relative to the outer arm section 360along the reference line S6.

The middle arm section driving assembly 363 includes a sprocket wheelmechanism 3630 and a middle arm section driving device 3631. An outputend of the middle arm section driving device 3631 is connected to adriving sprocket wheel of the sprocket wheel mechanism 3630. The middlearm section driving device 3631 is configured to drive the drivingsprocket wheel to rotate. The middle arm section 361 is fixedlyconnected to a roller chain of the sprocket wheel mechanism 3630, andthe sprocket wheel mechanism 3630 can drive the middle arm section 361to move relative to the outer arm section 360 along the reference lineS6.

As shown in FIG. 8 , the middle arm section 361 includes a connectingplate 3611. The connecting plate 3611 is fixedly connected to a rollerchain of the sprocket wheel mechanism 3630. The sprocket wheel mechanism3630 can drive the middle arm section 361 through the connecting plate3611 to move relative to the outer arm section 360.

It should be understood that, according to an actual situation, thesprocket wheel mechanism 3630 may be replaced with a pulley mechanism orthe like.

The middle arm section driving device 3631 is a second motor.

It should be understood that, according to an actual situation, themiddle arm section driving device 3631 is not limited to a motor. Forexample, the middle arm section driving device 3631 may also be an airmotor, a hydraulic transmission system, or the like.

Refer to FIG. 9 together, the inner arm section driving assembly 364includes a movable pulley 3640 and a strop 3641. The movable pulley 3640is installed to the middle arm section 362. A middle part of the strop3641 is arranged to be bent so that two ends of the strop 3641 areoppositely arranged, that is, the strop 3641 is U-shaped, and the middlepart of the strop 3641 is sleeved over the movable pulley 3640. One endof the strop 3641 is fixedly connected to the outer arm section 360, andthe other end of the strop 3641 is fixedly connected to the inner armsection 362. The movable pulley 3640 and the strop 3641 form a movablepulley structure. When the middle arm section 361 moves at a first speedrelative to the outer arm section 360 along the reference line S6, theinner arm section 362 moves at a second speed relative to the outer armsection 360 along the reference line S6, the second speed is twice thefirst speed.

In some scenario, a single middle arm section 361 is provided. However,it should be understood that the telescopic arm 36 may include two ormore middle arm section 361. For example, two middle arm sections 361are provided, where an end of a first middle arm section 361 is movablyconnected to the outer arm section 360 and another end of the firstmiddle arm section 361 is movably connected to a second middle armsection 361. The second middle arm section 361 is then movably connectedto the inner arm section 362.

In this embodiment, the movable pulley 3640 is a flat belt pulley, andthe strop 3641 is an open-loop flat belt.

It should be understood that, according to an actual situation, themovable pulley 3640 and the strop 3641 are not limited to the flat beltpulley and the open-loop flat belt. In some embodiments, the movablepulley 3640 is a sprocket wheel, and strop 3641 is a roller chain.

The pusher assembly 37 includes a fixed push rod 370, a manipulator 371,and a push rod driving device 372. In an embodiment, two ends of thefixed push rod 370 are respectively fixedly installed at opposite endsof the two inner arm sections 362, and two manipulators 371 arerespectively installed at ends of the inner arm sections 362 away fromthe fixed push rod 370. The manipulators 371 can fold or unfold relativeto the inner arm sections 362. The push rod driving device 372 isconfigured to drive the manipulators 371 to fold or unfold relative tothe inner arm sections 362.

In some other embodiment, the pusher assembly 37 includes two fixed pushrods symmetrically disposed relative to the reference line S6, and eachfixed push rod is fixedly installed to a corresponding inner arm section362.

When the telescopic arm 36 is in a compressed state, the temporarystorage unit is located between the two ends of the inner arm section362 in a direction along the reference line S6.

When the telescopic arm 36 is in an extension state, an end of the innerarm section 362 installed with the fixed push rod 370 is close to thetemporary storage unit, and an end of the inner arm section 362installed with the manipulator 371 is away from the temporary storageunit.

In an embodiment, the push rod driving device 372 includes a thirdmotor, and an end of the manipulator 371 is installed at an output endof the third motor. The third motor is configured to drive themanipulator 371 to rotate relative to the inner arm section 362 aroundthe third axis S7 that is parallel to the reference line S6, so that themanipulator 371 unfolds or folds relative to the inner arm section 362.

When the manipulator 371 folds to the inner arm section 362, and aninventory item is located on the reference line S6, the end of the innerarm section 362 installed with the manipulator 371 can move from a sideof the corresponding inventory item facing the temporary storage unit toa side of the inventory item away from the temporary storage unit alongthe reference line S6, so that the manipulator 371 relative to the innerarm section 362 may pull the inventory item to the temporary storageunit along the reference line S6.

It should be noted that if an inventory item is located on the referenceline S6, the inventory item is aligned with the material handlingdevice. The so-called inventory item may be an inventory item on thewarehouse shelf or an inventory item on the storage unit, as long as theinventory item is located on the reference line S6.

When the warehouse shelf is located on the reference line S6, the fixedpush rod 370 can push the inventory item located on the temporarystorage unit 35 to a preset position of the warehouse shelf. It shouldbe noted that in an embodiment, when the warehouse shelf is located onthe reference line S6, the material handling device 30 is at a sameheight as the warehouse shelf.

Similarly, when one storage unit 23 is located on the reference line S6,the fixed push rod can push the inventory item that is temporarilystored on an upper surface of the temporary storage unit 35 to acorresponding storage unit 23 along the reference line S6. It should benoted that in an embodiment, when one storage unit 23 is located on thereference line S6, the material handling device 30 is at a same heightas the storage unit 23.

It should be understood that, when the fixed push rod 370 pushes theinventory item, the manipulator 371 can fold relative to the inner armsection 362 or unfold relative to the inner arm section 362. When thefixed push rod 370 completes the pushing of the inventory item and isreset, the manipulator 371 folds relative to the inner arm section 362.

It should be understood that, according to an actual situation, thetemporary storage unit 35 can be omitted.

The temporary storage unit 35 has basically the same structure as thestorage unit 23 or the warehouse shelf, and at the position of thetemporary storage unit 35, the temporary storage unit 35 can be directlyreplaced with the storage unit 23.

In some embodiments, each storage unit 23 is located on the samehorizontal plane as a corresponding warehouse shelf. When one storageunit 23 and the preset positions of one warehouse shelf are both on thereference line S6, the fixed push rod 370 may push the inventory itemplaced on the corresponding storage unit 23 to the preset position ofthe corresponding warehouse shelf, or the manipulator 371 unfoldedrelative to the inner arm section 362 pulls the inventory item locatedon the corresponding warehouse shelf to the corresponding storage unit23.

In some embodiments, the fixed push rod 370 may be omitted.Specifically, the manipulator includes a pushing surface and a pullingsurface, which are oppositely arranged. The pushing surface is orientedtoward one end of the reference line, and the pulling surface isoriented toward the other end of the reference line. The inner armsection 362 installed with the manipulator 371 can move to either sideof the inventory item (located on the temporary storage unit, thestorage unit, or the warehouse shelf) by the manipulator 371 foldedrelative to the inner arm section 362, and the manipulator 371 unfoldedrelative to the inner arm section 362 can push the inventory item to thetemporary storage unit 35, the storage unit 23 or the preset position ofthe warehouse shelf via the pushing surface, or pull the inventory itemto the temporary storage unit 35, the storage unit 23 or the presetposition of the warehouse shelf via the pulling surface.

The rotation assembly 33 is configured to rotate the fork 32 relative tothe storage frame 20 around a vertical direction, so that any two orthree of any storage unit 23, the warehouse shelves and the referenceline S6 may not be located in the same vertical plane.

Refer to FIG. 10 together, the rotation assembly 33 includes a rotationmechanism 330, a rotation driving mechanism 331, a deflection detectiondevice, and a rotation limit device. The rotation mechanism 330 isinstalled between the fork 32 and the support bracket 31. The rotationmechanism 330 can rotate around the rotation axis S5, and the rotationdriving mechanism is configured to drive the rotation mechanism 330 torotate around the rotation axis S5. The deflection detection device isconfigured to control the rotation driving mechanism 331.

The rotation mechanism 330 includes a first rotation member 3300 and asecond rotation member 3301. The first rotation member 3300 is installedto a surface of the support bracket 31 facing the fork 32. The secondrotation member 3301 is installed to the first rotation member 3300, andthe second rotation member 3301 can rotate around the rotation axis S5relative to the first rotation member 3300. The fork 32 is installed tothe second rotation member 3301.

In this embodiment, the first rotation member 3300 is a slewing bearinginner ring, and a center line of the slewing bearing inner ring iscoaxial with the rotation axis S5. The second rotation member 3301 is aslewing bearing outer ring, and the slewing bearing outer ring issleeved on the slewing bearing inner ring, so that the slewing bearingouter ring can rotate around the rotation axis S5 relative to theslewing bearing inner ring, and the slewing bearing outer ring and theslewing bearing inner ring support the fork 32 together.

It should be understood that, according to an actual situation, thefirst rotation member 3300 and the second rotation member 3301 are notlimited to a combination of the slewing bearing inner ring and theslewing bearing outer ring.

The rotation driving mechanism 331 includes an outer ring gear 3310, arotation driving gear 3311, and a rotation driving device. The outerring gear 3310 is fixedly connected to the second rotation member 3301,and the outer ring gear 3310 is coaxial with the rotation axis S5. Anoutput end of the rotation driving device is connected to the rotationdriving gear 3311, and the rotation driving device is configured todrive the rotation driving gear 3311 to rotate, so that the outer ringgear 3310 that is engaged with the rotation driving gear 3311 rotatesaround the rotation axis S5, and drives the second rotation member 3301fixedly connected to the outer ring gear 3310 to rotate around therotation axis S4.

In this embodiment, the outer ring gear 3310 is integrally formed withthe slewing bearing outer ring.

It should be understood that, according to an actual situation, therotation driving mechanism 331 is not limited to the outer ring gear3310 and the rotation driving gear 3311. For example, the rotationdriving mechanism is a worm gear mechanism, a gear set, or a planetarygear mechanism.

In this embodiment, the rotation driving device is a fourth motor. Itshould be understood that, according to an actual situation, therotation driving device may also be a linear motor, an air motor, ahydraulic drive system, etc.

The rotation limit device includes a first limit post 3320, a secondlimit bar 3321, and a limit block 3322. The first limit bar 3320 and thesecond limit bar 3321 are both installed to the surface of the supportbracket 31 facing the fork 32, and the first limit bar 3320 and thesecond limit bar 3321 are circumferentially distributed around therotation axis S5. The limit block 3322 is installed to a surface of thefork 32 facing the support bracket 31. The limit block 3322 can abutagainst the first limit bar 3320 and the second limit bar 3321,respectively, enabling the rotation mechanism 330 to rotate around therotation axis S5 within a preset angle range, to drive the fork 32 torotate to a preset angle, so that the preset angle is within the presetangle range.

The deflection detection device is configured to detect whether the fork32 rotates to the preset angle.

When the deflection detection device detects that the fork has not yetrotated to the preset angle, the deflection detection device controlsthe rotation assembly to drive the fork to continue to rotate.

When the deflection detection device detects that the fork rotates overthe preset position, the deflection detection device controls therotation assembly to drive the fork to rotate in a reverse direction.

When the deflection detection device detects that the fork rotates tothe preset angle, the deflection detection device controls the rotationassembly to stop rotating.

The deflection detection device includes a first sensor 3330, a secondsensor 3331 and a rotation controller. The first sensor 3330 and thesecond sensor 3331 are both connected to the rotation controller.

The first sensor 3330 is provided with a first detection range. Thefirst sensor 3330 is configured to detect the fork 32 within the firstdetection range.

The second sensor 3331 is provided with a second detection range. Thesecond sensor 3331 is configured to detect the fork 32 within the seconddetection range.

The rotation controller is connected to the rotation driving device, andis configured to control the fork 32 to rotate around the rotation axisS5 through the rotation driving device.

When the first sensor 3330 detects the fork 32 in the first detectionrange, and the second sensor 3331 does not detect the fork 32 in thesecond detection range, the fork 32 has not yet rotated to the presetangle.

When the first sensor 3330 does not detect the fork 32 in the firstdetection range, and the second sensor 3331 detects the fork 32 in thesecond detection range, the fork 32 has rotated over the preset angle.

When the first sensor 3330 detects the fork 32 in the first detectionrange, and the second sensor 3331 detects the fork 32 in the seconddetection range, the fork 32 rotates to the preset angle.

In this embodiment, the first sensor 3330 is a first proximity switch,and the first proximity switch is installed to the surface of the fork32 facing the support bracket 31. The second sensor 3331 is a secondproximity switch, the second proximity switch and the first proximityswitch are installed to the surface of the support bracket 31. The firstproximity switch and the second proximity switch are circumferentiallydistributed around the rotation axis S5. The rotation controller furtherincludes a detection board 3333. The detection board 33 is installed tothe surface of the support bracket 31 facing the fork 32, and thedetection board 3333 is arranged to be bend around the rotation axis S5.

When the fork 32 rotates into a first preset angle range and does notrotate into a second preset angle range, the first proximity switchfaces the detection board 3333, and the second proximity switch does notface the detection board 3333.

When the fork 32 does not rotate into the first preset angle range butrotates into the second preset angle range, the first proximity switchdoes not face the detection board 3333, but the second proximity switchfaces the detection board 3333.

When the fork 32 rotates to a benchmark angle, the first proximityswitch faces one end of the detection board 3333, and the secondproximity switch faces the other end of the detection board 3333.

In some embodiments, the rotation assembly 33 may be omitted, and thematerial handling robot may adjust a horizontal orientation of the fork32 by the movable chassis 10 to replace the function of the rotationassembly, as long as a storage unit 23 and a corresponding warehouseshelf are located on the reference line S6 at the same time. Forexample, when the movable chassis 10 and the lifting assembly 40 work sothat a storage unit 23 and a corresponding warehouse shelf are locatedat the reference line S6, one end of the inner arm section 362 installedwith the manipulator 371 first passes the corresponding storage unit 23,and then the manipulator 371 unfolded relative to the inner arm section362 pulls the inventory item to the corresponding storage unit, and thencontinues to pull to the temporary storage unit 35. And the fixed pushrod 370 pushes the inventory item located on the temporary storage unit35 to the corresponding storage unit 23, and then continues to push theinventory item located on the corresponding storage unit 23 to thepreset position of the corresponding warehouse shelf. Since theinventory item first passes through the corresponding storage unit 23 orthe corresponding warehouse shelf, then reaches the temporary storageunit 35, the temporary storage unit 35 may be omitted in thisembodiment.

Refer back to FIG. 6 , the detection device 34 is configured to detectthe position information of the material handling device 30 relative tothe inventory item, i.e., to determine whether the storage unit 23, thepreset position of the warehouse shelf, or the inventory item is locatedon the reference line S6. It is understood that when a particular objectis located on the reference line S6, the particular object is alignedwith the material handling device 30.

For example, when picking up the inventory item from the preset positionof the warehouse shelf, the detection device 34 may determine whetherthe material handling device 30 is aligned with the inventory itemplaced at the preset position of the warehouse shelf or whether thematerial handling device 30 is aligned with the preset position of thewarehouse shelf where the inventory item is placed. In an embodiment,the preset position (e.g., a position where a maker is attached) atwhich the inventory item is placed may indicate a position of theinventory item.

A position marker may be used as a target position at the time ofpositioning the fork 32 of the material handling device 30. The markeris for position detection of the inventory item or the shelf. It is notlimited to the forms or shapes of the marker attached on the shelf orthe inventory item. In an embodiment, the marker is a two-dimensionalcode label, such as a QR code or a DataMatrix code. In some otherembodiments, the marker may be a one-dimensional code label or a labelwith an asymmetrical geometric shape. In an implementation, if theasymmetrical geometric shape label (e.g., an ARToolkit marker) isadopted and formed on the shelf or the inventory item, the label withasymmetrical geometric shape may be provided without encoding any data.It should be understood that some other patterns can be employed by themarker as long as a relative position can be detected based on themarker. The calculation of the relative position may be well known for askilled person in the art.

The detection device 34 may include a camera. When the camera capturesan image of the marker, pixel coordinates of the marker within thecaptured image may be calculated, and then the positional deviationamounts between the material handling robot (camera) and the inventoryitem may be calculated based at least in part on the pixel coordinates.The positional deviation amounts may include at least one of (1) apositional deviation amount between the material handling robot and theinventory item in the travelling direction, (2) a positional deviationamount between the material handling robot and the inventory item in thevertical direction, (3) a distance between the inventory item and themanipulator, and (4) an angle deviation amount between the materialhandling robot and the inventory item in a horizontal plane.

For example, after an image of the marker is captured, pixel coordinatesand a rotational angle of the marker in an image coordinate system arecalculated. The pixel coordinates are then converted into real worldcoordinates, which may be used as the positional deviation amounts. Therotational angle of the marker in the pixel space may be used as theangle deviation amount of the material handling device (camera) withrespect to the marker (the inventory item) in the horizontal plane.

In an embodiment, when picking up the inventory item from the shelf, thedetection device 34 may capture an image of a marker attached on thewarehouse shelf and calculate a relative position between the materialhandling device and the preset position (e.g., a position where themarker is placed) based on the image of the marker attached on thewarehouse shelf. The preset position may be used as the position of theinventory item and the calculated relative position may reflect arelative position between the material handling device and the inventoryitem. Additionally or alternatively, a marker may be attached on theinventory item, and the detection device 34 may calculate the relativeposition between the material handling device 30 and the inventory item(e.g., the marker attached thereon) based at least in part on an imageof the marker attached on the inventory item.

In an embodiment, when placing the inventory item at the preset positionof the warehouse shelf, the detection device 34 may determine whetherthe material handling device 30 is aligned with the preset position ofthe warehouse shelf based on a captured image of the marker attached onthe warehouse shelf. For example, the detection assembly 34 maydetermine whether the material handling device 30 is aligned with themarker attached on the shelf.

In an embodiment, the camera position of the detection device 34 withrespect to the marker is deemed to be the position of the materialhandling device with respect to the marker. In some other embodiments,as long as the geometrical relationship between the camera and thematerial handling device (e.g., the fork of the material handlingdevice) is known, it is possible for a skilled person to calculate aparticular point (e.g., the central point) on the material handlingdevice relative to the marker based on a captured image of the marker.The geometrical relationship may include the orientation of the lens ofthe camera, and the position on the material handling device where thecamera is mounted.

Specifically, the position information of the material handling devicerelative to the inventory item includes a first position offset betweenthe inventory item and the reference line in the travelling direction,and a second position offset between the inventory item and thereference line in the vertical direction, the distance between theinventory item and the manipulator along the reference line, and thedeflection amount between the inventory item and the reference line inthe horizontal direction. Thee position information will be described indetail below.

The position information of the material handling device relative to theinventory item includes the first position offset between the inventoryitem and the reference line in travelling direction.

It should be understood that the travelling direction is not limit to aspecific particular direction. In an embodiment, the travellingdirection may be invariable relative to the storage frame 20. Forexample, in an embodiment, the travelling direction may be aligned withor parallel to an orientation of the opening 26 of the storage unit 23.The travelling direction is perpendicular to a side direction. Thematerial handling device rotates to the side direction so as to pickinventory items from the shelf or deposit/place inventory items to theshelf. In an embodiment, the travelling direction may also beperpendicular to an orientation of the opening 26 of the storage unit23, or parallel to the side direction.

In some other embodiments, the travelling direction may be changeablerelative to the storage frame 20. For example, the movable chassis 10may move in any direction determined based on a current position and anext target position.

The detection device 34 includes a camera device 340, a primary lightingequipment 341, and a secondary lighting equipment 342. The camera device340 is fixedly installed to a surface of the temporary storage unit 35facing the support bracket 31, and a lens of the camera device 340 is ina direction the same or substantially the same as the direction of theextension of the telescopic arm 36. The camera device 340 is configuredto acquire image information, such as, shooting the two-dimensional codeon the warehouse shelf or the two-dimensional code attached on theinventory item, so as to determine whether the storage unit, the presetposition of the warehouse shelf, or the inventory item is on thereference line S6. Alternatively, the camera device 340 is configured todetermine the position of the inventory item relative to the warehouseshelf and the position of the inventory item relative to the storageframe 20 through an image difference algorithm, and so on.

It should be noted that if an angle between the orientation of lens andthe direction of extension is less than 10 degrees, the lens of thecamera is orientated in a direction substantially the same as thedirection of extension of the telescopic arm.

Specifically, as shown in FIGS. 6-8 , the camera device 340 is installedbeneath a surface of the temporary storage unit 35. For example, thecamera device 340 is fixedly amounted to a surface of the temporarystorage unit 35 facing the support bracket 31. The camera device 340 maybe mounted in the middle of the temporary storage unit 35. Additionallyor alternatively, the camera device 340 may be aligned with a centralaxis of the temporary storage unit 35 in a horizontal direction.

It should be understood that, according to an actual situation, thecamera device 340 may be replaced with a laser guiding device, aninfrared sensor, and etc.

The primary lighting equipment 341 is installed to the temporary storageunit 35, and is located on one side of the primary lighting equipment341 away from the camera device 340. The primary lighting equipment 341and the lens of the camera device 340 have the same orientation. Theprimary lighting equipment 341 is configured to compensate for light, sothat the camera device 340 can clearly shoot the two-dimensional code onthe warehouse shelf or the inventory item.

The secondary lighting equipment 342 is installed on the support bracket31, two secondary lighting equipments 342 are distributed relative tothe symmetrical axis 51, and the orientation of each secondary lightingequipment 342 is inclined upward, and is arranged back to the otherlighting equipment 342. The fork rotates around the rotation axis S5until the camera device 340 is located above one secondary lightingequipment 342, and then the one secondary lighting equipment 342 canfurther perform light compensation on the camera device 340, so that thehandling robot 100 can be adapted to different lighting environments,such as day and night. The secondary lighting equipment 342 is arrangedto be inclined, so that the light emitted by the secondary lightingequipment 342 is not easily all reflected to the lens of the cameradevice 340, resulting in excessive light compensation.

It should be understood that the above one or more devices of thedetection assembly 34 may also be mounted at other positions of thematerial handling device 30. For example, the lighting equipments 341and 342 may be mounted to an end of the telescopic arm 36, and thecamera 342 may be liftable relative to the support bracket 31 andmounted to the support bracket 31.

It is not limited to the number of devices included in the detectionassembly 34. For example, as shown in FIG. 6 , the detection assembly 34may include a single primary lighting equipment 341 and two secondarylighting equipment 342. However, the detection assembly may include twoor more primary lighting equipment 341 and a single secondary lightingequipment 342. In some embodiments, the detection assembly 34 mayinclude one or more processors.

It should be noted that the detection assembly 34 may include one ormore cameras. For example, the detection assembly 34 includes twocameras, where a first camera (e.g., the camera 340) may be used tocapture an image of a code label attached on the shelf and mountedbeneath a surface of the temporary storage unit 35, and a second cameramay be used to capture an image of a code label attached on theinventory item and mounted above the temporary storage unit 35. In anembodiment, the second camera may be mounted to a particular position ofa rear housing member 383, where the particular position is above orover an upper surface of the temporary storage unit.

As shown in FIGS. 1-2, and 6-7 , the fork 32 further includes a housing38. The housing 38 is installed around the temporary storage unit 35 andconfigured to prevent the inventory item on the temporary storage unit35 from falling off. At least a part of the temporary storage unit 35and the telescopic arm 36 is in the housing 38. For example, as shown inFIGS. 1-2 and 6-7 , at least a part of the telescopic arm 36 and atleast a part of the temporary storage unit 35 are housed in the housing38.

As shown in FIGS. 1-2 and 6-7 , the housing 38 is U-shaped. The housing38 includes a left housing member 381, a right housing member 382, and arear housing member 383. The left housing member 381 is configured tohouse at least a part of one telescopic arm 36, and the right housingmember 382 is configured to house at least a part of another telescopicarm 36. The left housing member 381 and the right housing member 382 arespaced apart from each other by a distance, and the temporary storageunit 35 is disposed between the left housing member 381 and the righthousing member 382. In some embodiments, the housing 38 may furtherinclude a bottom housing member connected to each of the left housingmember 381, the right housing member 382, and the rear housing member383. The temporary storage unit 35 may be disposed on the bottom housingmember. However, it should be understood that the bottom housing membermay be omitted, and the temporary storage unit 35 may be connected toand supported by the left housing member 381 and the right housingmember 382.

As shown in FIGS. 6-8 , an upper surface (or end) of each of the lefthousing member 381, the right housing member 382 and the rear housingmember 383 is higher than the upper surface of the temporary storageunit 35.

It is not limited to the ways to connect the housing members and installthe housing 38. In an embodiment, the housing members are integrallyformed into one piece. In some other embodiments, the left housingmember 381, the right housing member 382 and the rear housing member 383are separate components. Both the left housing member 381 and the righthousing member 382 may be connected to the rear housing member 383 viafasteners, such as screwed nuts. However, it may be also possible thatone of the left housing member 381 and the right housing member 382 isintegrally formed with the rear housing member 383, and another of theleft housing member 381 and the right housing member 382 is connected tothe rear housing member 383 by fasteners.

It should be understood that the bottom housing member may be integratedwith any or all of the left housing member 381, the right housing member382 and the rear housing member 383. However, the bottom housing membermay also be attached to any or all of the left housing member 381 andthe right housing member 382 by fasteners (e.g., threaded screws).

In an embodiment, the left housing member 381 may be integrally formedwith one telescopic arm 36, and the right housing member 382 may beintegrally formed with another telescopic arm 36.

It is not limited to the shape and structure of each of left housingmember 381, the right housing member 382 and the rear housing member383, as long as the housing 38 is U-shaped as a whole. In an embodiment,the rear housing member 383 includes an arcuate outer surface. And insome other embodiments, the rear housing member 383 includes a flatouter surface. If the left housing member 381 and the right housingmember 382 are symmetrically disposed relative a reference line, and therear housing member 383 connects to both an end of the left housingmember 381 and an end of the right housing member 382, a U-shapedhousing 38 is formed.

As shown in FIGS. 1-2 and 6-7 , a compartment 39 configured toaccommodate the inventory item is provided in the fork 32. In anembodiment, the elements including at least the housing 38 and thetemporary storage unit 35 form the compartment 39. The compartment 39 isprovided with a single opening 391 in a direction parallel to thedirection of extension or retraction of the telescopic arm 36.

It can be seen from FIGS. 1-2 and 6-7 that the single opening 391 isformed in the fork 32 in the direction parallel to the direction ofextension or retraction of the telescopic arm 36. In an embodiment, asshown in FIGS. 1-2 and 6-7 , the U-shaped housing 38 is provided withthe single opening 391 in the horizontal direction at the front side ofthe fork 32, which is away from the rear housing member 383. Forexample, when picking up the inventory item from the warehouse shelf,the single opening 391 is aligned with the warehouse shelf and isorientated towards the warehouse shelf.

The single opening 391 is located at a side opposite to the rear housing383. It is obvious that the inventory item can only be pushed away orpulled into the temporary storage unit 35 through the single opening391. Because there is only one opening in the direction of extension orretraction of the telescopic arm 36, the telescopic arm 36 cannot extendin two directions. It is obvious from FIGS. 1-2 and 6-7 that thetelescopic arm 36 can only extend in a single direction through thesingle opening 391. That is, the telescopic arm 36 can only extend inthe direction towards the opening 391, and the telescopic arm 36 cannotextend in a reverse direction. For example, the telescopic arm 36 cannotextend in a direction towards the rear housing member 383. Thetelescopic arm 36 is extendable in a single direction relative to theU-shaped housing 38 or the temporary storage unit 35.

The lifting assembly 40 is configured to drive the material handlingdevice 30 to move relative to the storage frame 20 in the verticaldirection. The lifting assembly 40 includes a lifting transmissionmechanism and a lifting drive mechanism 42. The lifting drive mechanism42 is configured to provide a second driving force for movement of thematerial handling device 30 relative to the storage frame 20 in thevertical direction, and the lifting transmission mechanism is configuredto transmit the second driving force to the material handling device 30.

The lifting transmission mechanism includes two sets of synchronouswheel mechanisms 43. The two sets of synchronous wheel mechanisms 43 areinstalled to two opposite surfaces of the two vertical columns 115,respectively. Each set of synchronous wheel mechanism 43 includes adriving synchronous wheel 430, a tension wheel 431 and a synchronousbelt 432. The driving synchronous wheel 430 is installed at one end ofthe vertical columns 115 near the base body 112, and the tension wheel431 is installed at one end of the vertical columns 115 away from thebase body 112. The tension wheel 431 and the driving synchronous wheel430 are sleeved on the synchronous belt 432. The lifting drive mechanism42 is connected to the driving synchronous wheel 430, and is configuredto drive the driving synchronous wheel 430 to rotate. The drivingsynchronous wheel 430 drives the synchronous belt 432 to move in thevertical direction, so that the support bracket 31 fixedly connected tothe synchronous belt 432 synchronously moves in the vertical direction.

The synchronous belt 432 of each synchronous wheel mechanism 43 isconnected with a counterweight 433. Each counterweight 433 has a certainmass, and is installed on a counterweight rail of a correspondingvertical column 115. Each counterweight 433 can move relative to thecorresponding vertical column 115 in the vertical direction. When thematerial handling device 30 moves in the vertical direction, thecounterweight 433 can act as a buffer, and reduce the load of thelifting drive mechanism 42.

It should be understood that, on one hand, according to an actualsituation, the number of the synchronous wheel mechanisms 43 is notlimited to two. For example, the number of the synchronous wheelmechanisms 43 may be one, two or more, as long as there is at least one.On the other hand, according to an actual situation, the liftingtransmission mechanism is not limited to the synchronous wheel mechanism43. For example, the lifting transmission mechanism may also be asprocket wheel mechanism, or a gear rack mechanism, a turbine wormmechanism, a lifting screw mechanism, and so on.

Since the support bracket 31 supports the fork, the lifting drivemechanism has a large load during the transport of the inventory item.In order to ensure that the material handling device can smoothly lift,two synchronization wheel mechanisms have a high synchronization rate.

The lifting drive mechanism 42 includes a lifting driving device 420, adriving shaft 421, a driving gear, and a driven gear (both the drivinggear and the driven gear are installed in the gearbox 422 in thefigure). Two ends of the driving shaft 421 are connected to two drivingsynchronous wheels 430 of the two synchronous wheel mechanisms 43through flat keys. The driving shaft 421 transmits a torque to thedriving synchronous wheel 430 through the flat keys, so that the drivingsynchronous wheels 430 of the two synchronous wheel mechanisms 43 canrotate synchronously, which allows the material handling device 30 tosmoothly move in the vertical direction. The driven gear is sleevedbetween two shafts of the driving shaft 421, and the driving gearengages with the driven gear to transmit the driving force of thelifting driving device 420.

It should be understood that, according to an actual situation, thesynchronous wheel mechanism 43 may be replaced with a sprocket wheelmechanism, or a gear rack set, or the like.

In some embodiments, short shafts at both ends of the driving shaft 421are coaxially connected by a coupling. One end of one short shaft facingaway from the coupling is connected to the driving synchronous wheel 430of one synchronous wheel mechanism 43, and one end of the other shortshaft facing away from the coupling is connected to the drivingsynchronous wheel 430 of the other synchronous wheel mechanism 43, whichcan further ensure the synchronization rate of the two drivingsynchronous wheels 430.

In this embodiment, the lifting driving device 420 is a fifth motor. Itshould be understood that, according to an actual situation, the liftingdrive device is not limited to the fifth motor. For example, the liftingdriving device may also be an air motor, hydraulic transmission system,etc.

When the handling robot 100 is in a work state, the handling robot 100specifically involves the following several processes:

The handling robot 100 transports the inventory item on the warehouseshelf to the temporary storage unit. In step 1, the movable chassis 10drives the handling robot 100 to move to a warehouse shelf where aninventory item is placed. The movable chassis 10 is guided by theguiding device 14 so that the movable chassis 10 travels along aspecified path, and when reaching the warehouse shelf where theinventory item is placed, the movable chassis 10 is stationary relativeto the warehouse shelf. The movable chassis 10 moves in a travellingdirection. In step 2, the lifting assembly 40 drives the fork 32 to moverelative to the warehouse shelf in the vertical direction, so that thereference line S6 of the fork 32 is on the same horizontal plane as theinventory item. In an embodiment, the fork 32 moves sideways relative tothe travelling direction to pull or push the inventory item. Forexample, the fork 32 may be rotated so that the horizontal orientationof the fork is perpendicular to the travelling direction. In step 3, thefork 32 rotates around the vertically set rotation axis S5, so that theinventory item is on the reference line S6 (e.g., so as to make sure theinventory item is aligned with the fork 32). In step 4, the telescopicarm 36 extends along the reference line. The manipulator 371 installedat one end of the inner arm section 362 folds relative to the inner armsection 362, and the one end of the inner arm section 362 installed withthe manipulator 371 moves from a side of the inventory item facing thetemporary storage unit 35 to a side of the inventory item facing awaythe temporary storage unit 35. In step 5, the manipulator 371 unfoldsrelative to the inner arm section 362, and then the telescopic arm 36 isretracted so that the manipulator 371 pulls the inventory item into thetemporary storage unit 35.

The handling robot 100 transports an inventory item in the temporarystorage unit 35 to a storage pallet. In step 1, the fork 32 rotatesrelative to the storage frame 20 around the rotation axis S5 until thereference line S6 of the fork 32 is on the same vertical plane as thestorage unit (in an embodiment provided by the present application, whenthe reference line S6 of the fork 32 is on the same vertical plane asthe storage unit, the fork 32 is at a benchmark angle relative to thesupport bracket 31). In step 2, the lifting assembly 40 drives the fork32 to move in the vertical direction, so that one storage unit islocated on the reference line S6 (e.g., so as to make sure that the onestorage unit is aligned with the fork). In step 3, the telescopic arm 36extends along the reference line S6 so that the fixed push rod 370installed at an end of the inner arm section 362 facing away from themanipulator 371 pushes the inventory item located in the temporarystorage unit 35 into a corresponding storage unit 23.

The handling robot 100 transports an inventory item in a storage palletto the temporary storage unit 35. In step 1, the fork 32 rotatesrelative to the storage frame 20 around the rotation axis S5 until thereference line S6 of the fork 32 is on the same vertical plane as thestorage unit. In step 2, the lifting assembly 40 drives the fork 32 tomove in the vertical direction, so that one storage unit is located onthe reference line S6. In step 3, the telescopic arm 36 extends alongthe reference line. The manipulator 371 installed at one end of theinner arm section 362 folds relative to the inner arm section 362, andone end of the inner arm section 362 installed with the manipulator 371moves from the side of the inventory item facing the temporary storageunit to the side of the inventory item facing away the temporary storageunit. In step 5, the manipulator 371 unfolds relative to the inner armsection 362, and then the telescopic arm 36 is retracted so that themanipulator 371 pulls the inventory item into the temporary storageunit.

The handling robot 100 transports the inventory item in the temporarystorage unit to the warehouse shelf.

In step 1, the movable chassis 10 drives the handling robot 100 to moveto a preset position of the warehouse shelf. The movable chassis 10 isguided by the guiding device 14 to allow the movable chassis 10 totravel along a specified path. When reaching the warehouse shelf, themovable chassis 10 is stationary relative to the warehouse shelf. Instep 2, the lifting assembly 40 drives the fork 32 to move relative tothe warehouse shelf in the vertical direction, so that the referenceline S6 of the fork 32 is on the same horizontal plane as the presetposition. In step 3, the fork 32 rotates around the vertically setrotation axis S5, so that the preset position is on the reference lineS6 (e.g., so as to make sure the preset position is aligned with thefork). In step 4, the telescopic arm 36 extends along the reference lineS6, so that the fixed push rod 370 installed at an end of the inner armsection 362 facing away the manipulator 371 pushes the inventory itemlocated in the temporary storage unit to the preset position of thewarehouse shelf.

It should be understood that the number in “step 1”, . . . , “step 5”does not mean a particular order in which the described-above processesmust be performed. The number in “step 1”, . . . , “step 5” is forillustrative purposes only. The described-above process may be performedin any other order as long as the material handling device can pick upor deposit the inventory item. For example, when the handling robot 100transports the inventory item on the warehouse shelf to the temporarystorage unit, the step 2 or step 3 may be performed before step 1, andthe step 3 may be performed before step 2.

An embodiment of the present application provides a handling robot 100.The handling robot 100 includes: a movable chassis 10; a storage frame20, installed on the movable chassis 10, and provided with a pluralityof storage units 23 distributed in a vertical direction, each storageunit 23 being configured to place an inventory item; a material handingdevice 30, configured to transport an inventory item between a warehouseshelf and any one of the storage units 23, where the material handlingdevice 30 has a preset horizontal reference line S6, and the materialhandling device 30 includes a pusher assembly, the pusher assembly canmove relative to the storage frame along the reference line; and alifting assembly, configured to drive the material handling device tomove in a vertical direction so that any one of the storage units islocated on the reference line. When one of the storage units is locatedon the reference line (e.g., the one of the storage units is alignedwith the material handling device), the pusher assembly can push theinventory item to a corresponding storage unit along the reference line,or the pusher assembly can pull the inventory item located on thecorresponding storage unit away therefrom. By the above method, thehandling robot 100 equipped with the storage frame 20 can load a largenumber of inventory items.

Additionally, it can be realized that an inventory item is pushed intoor pulled away a storage unit, so that a distance between each twoadjacent storage units is small, and more storage units can be placed inthe handling robot with the same vertical height, increasing the maximumload capacity.

In addition, for such push-pull method for transporting an inventoryitem, there is no requirement for the shape of the inventory item, aslong as the inventory item can be pushed by a push rod, which allows thehandling robot has a wide range of applications. The inventory item inembodiments of the present invention may be any objects, goods,materials, components, or articles. The inventory item may also be acontainer, a box, or a pallet, which may contain or hold a single ormultiple types of objects, goods, materials, components, or articles andmay be pushed or pulled by the pusher assembly. The number of objects,goods, materials or articles contained in the container, box or palletis not limited so long as the requirements of the inventory managementsystem are met.

Moreover, for such push-pull method for transporting an inventory item,the inventory item transported by the material handling device 30 eachtime may be a single object or several separated objects. For example,when the material handling device 30 transports the inventory item fromthe warehouse shelf, a plurality of objects on the warehouse shelf aresequentially arranged along the reference line S6. One end of the innerarm section 362 installed with the manipulator 371 moves from the frontside of the closest object to the back side of the farthest object, andthen the manipulator 371 pulls the plurality of objects together awaythe warehouse shelf.

Refer to FIG. 11 together, another embodiment of the present applicationprovides a method for retrieving an inventory item based on the handlingrobot 100 above. The method for retrieving an inventory item includesthe following steps.

Step 201: driving, by the telescopic arm, the manipulator to extend tothe preset position of the warehouse shelf along the preset horizontalreference line.

The manipulator at one end of the telescopic arm extends to the presetposition of the warehouse shelf along the reference line.

Step 202: loading, by the manipulator that is remained on the horizontalplane where the reference line is located, an inventory item located atthe preset position.

In this embodiment, the manipulator is configured to pull the inventoryitem. According to an actual situation, the manipulator may be invarious forms. For example, the manipulator may be in the form of clipor pallet, but is not limited thereto. In this embodiment, themanipulator drags the inventory item. In some embodiments, according toan actual situation, the manipulator can clamp the inventory item, orsupport the inventory item, etc., as long as the manipulator can drivethe inventory item to move along the reference line.

Step 203: driving, by the telescopic arm, the manipulator loaded withthe inventory item to move to the storage frame along the referenceline.

Step 204: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the inventory itemto the storage frame.

It should be noted that whether the manipulator moves, loads or unloadsthe inventory item is carried out on the preset horizontal referenceline, having a high utilization rate in the vertical space, and areasonable utilization of the vertical space.

Since the position of the inventory item on the warehouse shelf, i.e.,the preset position, may not be on the same horizontal plane as thereference line, a lifting assembly is added to drive the materialhandling device to move in the vertical direction. During the liftingprocess of the material handling device, the reference line can be onthe same horizontal plane with the inventory item located at any height.

In some embodiments, before step 201, the method for retrieving aninventory item further includes:

Step 2005: driving, by the lifting assembly, the material handlingdevice to move in the vertical direction, so that the manipulator ishorizontally aligned with the preset position.

It should be noted that the material handling device moves in thevertical direction to a height of the preset position so that themanipulator is horizontally aligned with the preset position.

It should be understood that information about a particular heightindicating a height of the shelf where the inventory item is placed maybe sent from a management server to the handling robot 100 so that thematerial handling device 30 can directly move upwards or downwards tothe particular height, thereby being aligned with the preset position ofthe shelf.

Due to an economic factor in terms of land occupation in the warehouse,the value of horizontal space is higher than that of vertical space.Therefore, a preferred option is that the storage frame is provided witha plurality of storage units distributed in a vertical direction. Underthe condition of providing the lifting assembly, the lifting assemblycan also be fully utilized.

In some embodiments, before step 203, the method for retrieving aninventory item further includes:

Step 2025: driving, by the lifting assembly, the material handlingdevice to move in the vertical direction, so that the material handlingdevice is horizontally aligned with a corresponding storage unit and istherefore at a same height as the corresponding storage unit.

The material handling device is aligned with any corresponding storageunit through the lifting assembly, and then the inventory item can bestored in the corresponding storage unit.

The handling robot is equipped with the movable chassis, and can movebetween different warehouse shelves, so that the handling robot canrealize the function of transporting the inventory item betweendifferent warehouse shelves.

In some embodiments, before or after step 2005, the method forretrieving an inventory item further includes:

Step 2004: moving the movable chassis to a preset range in front of thewarehouse shelf.

The movable chassis carries the storage frame, the material handlingdevices, etc. to move to a preset range in front of the warehouse shelf.The warehouse shelf here may be a warehouse shelf in which an inventoryitem to be transported is placed, or a warehouse shelf in which aninventory item to be transported needs to be placed.

It should be understood that the movable chassis identifiestwo-dimensional code labels on the ground so as to navigate from acurrent position to a target position in front of the shelf. Theinformation about the target position may be sent from the managementserver to the handling robot.

Since the material handling device needs to be aligned with theinventory item, i.e., keeping the inventory item on the reference line,it needs to perform alignment by the lifting assembly in the verticaldirection, and perform adjustment by the movable chassis in thehorizontal direction, so that the inventory item is located on thereference line in the horizontal direction, improving an accuracy of themanipulator for loading the inventory item.

The material handling device is provided with a detection device fordetecting a position of the material handling device relative to theinventory item, i.e., detecting whether the inventory item is on thereference line.

In some embodiments, before step 201, the method for retrieving aninventory item further includes:

Step 2026: detecting, by the detection device, position information ofthe material handling device relative to the inventory item, andadjusting, by the handling robot, a posture of fetching the inventoryitem according to the position information of the material handlingdevice relative to the inventory item.

It should be understood that adjustment of the posture of retrieving theinventory item may be controlled by one or more processors of thehandling robot.

In an actual situation, an adjustment of the position of the referenceline only by the movable chassis has a low efficiency. This is due to alow efficiency of turning of the present movable chassis on one hand,and a high load of the handling robot and not high accuracy of themovement of the handling robot on the other hand, thereby the adjustmentof the position of the reference line only by the movable chassis havinga low efficiency.

Therefore, it is necessary to perform a joint adjustment in variousaspects, to improve the efficiency and accuracy of the posture offetching the inventory item by the handling robot.

Specifically, the movable chassis is provided with a travellingdirection, and the movable chassis has the highest efficiency whenmoving in the travelling direction.

The position information of the material handling device relative to theinventory item includes a first position offset between the inventoryitem and the reference line in the travelling direction. A skilledperson in the art knows that the reference line represents the materialhandling device and that the first position offset is actually arelative position between the material handling device and the inventoryitem in the travelling direction. For example, in an embodiment, thefirst position offset may represent a positional deviation amount of thematerial handling device with respect to the inventory item in thetravelling direction.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026A: causing the movable chassis to move in the travellingdirection according to the first position offset, so that the firstposition offset is smaller than a first error value.

The handling robot may adjust movement of the movable chassis based onthe first position offset to make sure that a new detection of the firstposition offset (e.g., an update of the first position offset in nexttime) is smaller than a threshold (e.g., the first error value). Forexample, the handling robot includes one or more memories for storinginstructions (e.g., program codes), and one or more processorsconfigured to execute the stored instructions so as to control themovable chassis to move in the travelling direction based at least inpart on the first position offset.

Since it is difficult to move the movable chassis to a position with adetermined value during the adjustment of the movable chassis, the firsterror value is set. As long as an actual error, i.e., the first positionoffset, is smaller than the first error value, it can be considered thatthe movable chassis moves to a desired place and the material handlingdevice is deemed to be aligned with the inventory item in some aspect. Aperson skilled in the art can set the first error value in the handlingrobot in advance according to an actual situation. Once the firstposition offset is smaller than the first error value, the materialhandling device may start to pick up (e.g., pull) the inventory item ifthe material handling device is deemed to be aligned with the inventoryitem in other aspects.

Further, the position information of the material handling devicerelative to the inventory item includes a second position offset betweenthe inventory item and the reference line in the vertical direction. Askilled person in the art knows that the second position offset isactually a relative position between the material handling device andthe inventory item in the vertical direction. For example, in anembodiment, the second position offset may represent a positionaldeviation amount of the material handling device with respect to theinventory item in the vertical direction.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026B: driving, by the lifting assembly, the material handlingdevice to move in the vertical direction according to the secondposition offset, so that the second position offset is smaller than asecond error value.

The handling robot adjusts movement of the material handling devicebased on the second position offset to make sure that a new detection ofthe second position offset (e.g., an update of the second positionoffset detected in next time) is smaller than a threshold (e.g., thesecond error value). The one or more processors of the handling robotmay be configured to execute instructions stored in one or more memoriesso as to control the material handling device to move in the verticaldirection based at least in part on the second position offset.

It should be noted that, in step 2005, the material handling device hasachieved a preliminary lifting, but the inventory item has not beenaccurately positioned on the reference line, and then by fine-tuning,the reference line can be located near the middle of the inventory item,to improve the accuracy of retrieving the inventory item. A personskilled in the art can set the second error value in the handling robotin advance according to an actual situation.

In an embodiment, in order to transfer an inventory item from a shelf, amanagement server may notify the handling robot of a particular height(e.g., 2 m) of the shelf where the inventory item is placed. After thehandling robot reaches the shelf, the material handling device moves inthe vertical direction to the particular height (e.g., the materialhandling device moves in the vertical direction so that the materialhandling device is at a height of 2 m), and then performs thefine-tuning procedure. During the fine-tuning procedure, the materialhandling device may move downwards by a preset distance (e.g., 10 mm),and a convergence error (e.g., 2 mm) may be preset. When the materialhandling device is at the particular height (e.g., 2 m), if the positionoffset between the material handling device and the inventory item(e.g., the marker attached on the shelf or the inventory item) in thevertical direction is within a range of [the preset distance−presetconvergence error, the preset distance+preset convergence error] (e.g.,[10 mm−2 mm, 10 mm+2 mm]), it can be deemed that the material handlingdevice moves to a desired height. In this case, an error value may beset as 12 mm (10 mm+2 mm) in advance, and another error value may be setas 8 mm (10 mm−2 mm) in advance. The second position offset needs to besmaller than 12 mm, which is set as the sum of the preset distance andthe preset convergence error in advance.

Similarly, hi some, other embodiments; in order to transport aninventory item to a shelf from somewhere else, the management server maynotify the handling robot of a particular height of the shelf where theinventory item is to be placed. After the handling robot reaches thetarget shelf, the material handling device moves in the verticaldirection to the particular height, and then performs the fine-tuningprocedure. During the fine-tuning procedure, the material handlingdevice may move upwards by a preset distance (e.g., 10 mm), and aconvergence error (e.g., 2 mm) may be preset. If the position offsetbetween the material handling device and the marker attached on theshelf in the vertical direction is within a range of [10 mm−2 mm, 10mm+2 mm], it can be deemed that the material handling device moves to adesired height.

Further, the position information of the material handling devicerelative to the inventory item includes a distance between the inventoryitem and the manipulator along the reference line. A skilled person inthe art knows that the direction along the reference line represents thedirection of extension of telescopic arm and that the distance betweenthe inventory item and the manipulator along the reference line is adistance between the inventory item and the manipulator in a directionof extension of the telescopic arm.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026C: adjusting an extension amount of the telescopic arm alongthe reference line according to the distance, so that the extensionamount is larger than the distance.

The one or more processors of the handling robot may be configured toexecute instructions stored in one or more memories so as to control thetelescopic arm to extend based at least in part on the detecteddistance.

It should be understood that by setting the extension amount of thetelescopic arm, the time for the telescopic arm to extend to the presetposition can be minimized, and the efficiency of retrieving an inventoryitem can be improved. A person skilled in the art may set the distancein the handling robot in advance according to an actual situation.

In some embodiments, during extension of the telescopic arm, an obstaclemay be detected by the detection assembly. Based on the detection ofpresence of the obstacle, the handling robot (e.g., the one or moreprocessors of the handling robot) controls the telescopic arm to stopextending so as to avoid a collision with the obstacle.

In this embodiment, the detection device includes an image acquisitiondevice. It should be understood that, according to an actual situation,the detection device can also be in other forms. For example, thematerial handling device is provided with a laser transmitter and alaser receiver, and the inventory item is provided with a reflectivesurface, and the positioning of the material handling device relative tothe inventory item can be realized by the laser transmitter emitting alaser to the reflective surface, and the laser reflected by thereflective surface entering the laser receiver. Alternatively, thematerial handling device is provided with a radio frequency transmitter,and the inventory item is attached with an electronic label, and theposition relationship between the material handling device and theinventory item can be determined by radio frequency identification.

It should be noted that the detection assembly 34 may include anycombination of the above-mentioned sensors and detection results fromone or more sensors may be fused in order to increase accuracy ofdetection and enhance robustness of the detection assembly.

In an embodiment, when the image acquisition device acquires imageinformation of the inventory item, the detection device detects theposition information of the material handling device relative to theinventory item.

Further, a surface of the inventory item facing to the handling robot isattached with a two-dimensional code label. When the image acquisitiondevice acquires the image information of the inventory item, the imageacquisition device collects the information provided by thetwo-dimensional code label, and obtain the position information of thematerial handling device relative to the inventory item.

In some embodiments, as described before, a two-dimensional code labelmay be attached at the preset position of the warehouse shelf, where theinventory item is placed at the preset position. The image acquisitiondevice (e.g., an image sensor, or a camera assembly) captures an imageof the code label attached on the warehouse shelf and determine positioninformation between the material handling device and the code labelattached on the warehouse shelf. The position information between thematerial handling device and the code label attached on the warehouseshelf may reflect the relative position between the material handlingdevice and the inventory item.

In an actual situation, it may happen that a height of the warehouseshelf and a height of the storage frame are not on the same horizontalplane. At this time, the inventory item cannot be directly transportedfrom the preset position of the warehouse shelf to the storage frame.Installing a temporary storage unit on the material handling device canrealize transportation of the inventory item in the case that the heightof the warehouse shelf and the height of the storage frame are not onthe same horizontal plane.

In some embodiments, before step 203, the method for retrieving aninventory item further includes:

Step 2027: driving, by the telescopic arm, the manipulator loaded withthe inventory item to retract to the temporary storage unit along thereference line.

Step 2028: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the inventory itemto the temporary storage unit.

Step 2029: loading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the inventory itemlocated on the temporary storage unit.

The inventory item on the warehouse shelf is first transported to thetemporary storage unit, and then the lifting assembly lifts or lowersthe temporary storage unit (the material handling device) to make thetemporary storage unit and one storage unit located at the same height,transporting the inventory item to the corresponding storage unit.

Since inventory items are solid and mostly cuboid, and in an actualsituation, retrieving an inventory item requires a high accuracy whendirectly facing the inventory item. It is difficult for the referenceline to pass through the inventory item and be orthogonal to one surfaceof the inventory item by movement of the movable chassis in only onehorizontal dimension. Therefore, a horizontal dimension is supplementedto increase the flexibility of the adjustment of the posture of fetchingthe inventory item, which can more quickly adjust the posture offetching the inventory item and improve accuracy of retrieving theinventory item at the same time.

In some embodiments, after step 2029 and before step 203, the method forretrieving an inventory item further includes:

Step 2030: driving, by the rotation assembly, the telescopic arm torotate to a preset angle around a vertical direction, so that thematerial handling device is oriented towards the storage frame.

In some embodiments, the position information of the material handlingdevice relative to the inventory item includes a deflection amountbetween the inventory item and the reference line in the horizontaldirection. A skilled person in the art knows that the deflection amountis an angle deviation amount of the material handling device withrespect to the inventory item in the horizontal plane.

In step 2026, the adjusting, by the handling robot, a posture offetching the inventory item according to the position information of thematerial handling device relative to the inventory item includes:

Step 2026D: driving, by the rotation assembly, the fork to rotate arounda vertical direction according to the deflection amount, so that thedeflection amount is smaller than a third error value.

The handling robot controls rotation of the fork based on the deflectionamount to make sure that a new detection of the angle deviation amount(e.g., an update of the angle deviation amount detected in next time) issmaller than a threshold (e.g., the third error value). The one or moreprocessors of the handling robot may be configured to executeinstructions stored in the one or more memories so as to control thefork to rotate based at least in part on the angle deviation amount.

A person skilled in the art may set the third error value in thehandling robot in advance according to an actual situation.

The rotation requires a high precision and requires a high speed toimprove efficiency, but it is difficult for the fork to stop at a presetangle due to the inertia during the rotation.

In some embodiments, the driving, by the rotation assembly, the fork torotate around a vertical direction includes: when the deflectiondetection device detects that the fork has not yet rotated to the presetangle, driving, by the rotation assembly, the fork to continue torotate; when the deflection detection device detects that the fork hasrotated over the preset angle, driving, by the rotation assembly, thefork to rotate in a reverse direction; and when the deflection detectiondevice detects that the fork rotates to the preset angle, causing therotation assembly to stop rotating.

The deflection detection device controls the rotations of the fork, andmakes the fork to rotate to the preset angle.

Specifically, the deflection detection device includes: a first sensorprovided with a first detection range; and

a second sensor provided with a second detection range.

When the first sensor detects the fork in the first detection range, andthe second sensor does not detect the fork in the second detectionrange, the deflection detection device detects the fork has not yetrotated to the preset angle.

When the first sensor does not detect the fork in the first detectionrange, and the second sensor detects the fork in the second detectionrange, the deflection detection device detects the fork has rotated overthe preset angle.

When the first sensor detects the fork in the first detection range, andthe second sensor detects the fork in the second detection range, thedeflection detection device detects the fork rotates to the presetangle.

In order to improve the utilization of the warehouse in the horizontalspace, inventory items are placed in positions at two different depthsof the warehouse shelf, which may decrease an aisle for the handlingrobot and improve the utilization rate of the warehouse in thehorizontal space.

In some embodiments, the inventory item includes a first inventory itemand a second inventory item.

The preset position includes a first preset position and a second presetposition.

The first inventory item is located at the first preset position, andthe second inventory item is located at the second preset position.

The storage frame includes a first storage unit and a second storageunit.

When there is the second inventory item behind the first inventory item,the method for retrieving an inventory item further includes:

Step 301: driving, by the telescopic arm, the manipulator to extend tothe first preset position of the warehouse shelf along the referenceline.

Step 302: loading, by the manipulator that is remained on the horizontalplane where the reference line is located, the first inventory itemlocated at the first preset position.

Step 303: driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the first storage unit along thereference line.

Step 304: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the firstinventory item to the first storage unit.

Step 305: driving, by the telescopic arm, the manipulator to move to thesecond preset position of the warehouse shelf along the reference line.

Step 306: loading, by the manipulator that is remained on the horizontalplane where the reference line is located, the second inventory itemlocated at the second preset position.

Step 307: driving, by the telescopic arm, the manipulator loaded withthe second inventory item to move to the second storage unit along thereference line.

Step 308: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the secondinventory item to the second storage unit.

The first inventory item is transported to the first storage unit, andthen the second inventory item is transported to the second storageunit.

In an actual situation, there may be a case where only the secondinventory item is needed and the first inventory item is not needed.

In some embodiments, the method for retrieving an inventory item furtherincludes:

Step 309: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the reference line.

Step 3010: driving, by the telescopic arm, the manipulator to remain onthe horizontal plane where the reference line is located to load thefirst inventory item located on the first storage unit.

Step 3011: driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the first preset position of thewarehouse shelf along the reference line.

Step 3012A: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the firstinventory item to the first preset position of the warehouse shelf.

In an actual situation, it is not the best choice to place the unwantedfirst inventory item in the first preset position, because the secondpreset position is empty, and the second preset position is behind thefirst preset position, it is still necessary to take out the inventoryitem in the first preset position when an inventory item needs to beplaced in the second preset position, thereby having a low efficiency.

In some other embodiments, alternatively, the method for retrieving aninventory item further includes:

Step 309: driving, by the telescopic arm, the manipulator to move to thefirst storage unit along the reference line.

Step 3010: driving, by the telescopic arm, the manipulator that isremained on the horizontal plane where the reference line is located, toload the first inventory item located on the first storage unit.

Step 3011: driving, by the telescopic arm, the manipulator loaded withthe first inventory item to move to the second preset position of thewarehouse shelf along the reference line.

Step 3012B: unloading, by the manipulator that is remained on thehorizontal plane where the reference line is located, the firstinventory item to the second preset position of the warehouse shelf.

The inventory items correspond to positions of the warehouse shelf oneby one.

In some embodiments, the method for retrieving an inventory item furtherincludes:

Step 3013: uploading current position information of the first inventoryitem.

Compared with the prior art, the present application provides a methodfor retrieving an inventory item based on a handling robot, where thehandling robot includes: a storage frame; a material handling deviceinstalled on the storage frame and including a telescopic arm and amanipulator installed to the telescopic arm; the method for retrievingan inventory item includes: driving, by the telescopic arm, themanipulator to extend to a preset position of a warehouse shelf along apreset horizontal reference line; loading, by the manipulator that isremained on the reference line, the inventory item in the presetposition; driving, by the telescopic arm, the manipulator loaded withthe inventory item to move to the storage frame along the referenceline, and unloading, by the manipulator that is remained on thereference line, the inventory item to the storage frame. By the abovemethod, the inventory item can be moved to the storage frame along thepreset horizontal reference line, the occupied space of the storageframe in the vertical direction is less and a larger number of inventoryitems can be loaded.

It should be understood that similar to AGVs (Automatic Guided Vehicles)in prior art, the handling robot (e.g., an automated vehicle) providedin embodiments of the present invention may include one or moreprocessors and one or more memories as described above. The one or moreprocessors may include at least one of a microprocessor, a micro controlunit (MCU), a central processing unit (CPU), a graphics processing unit(GPU), a video processing unit (VPU), a digital signal processor (DSP),and a filed programmable gate array (FPGA). The one or more memories mayinclude one or more nonvolatile memories and one or more volatilememories.

The one or more memories may store instructions (e.g., program codes)and the instructions can be executed by the one or more processors. Uponexecution of these instructions by the one or more processors, thecomponents (e.g., the movable chassis, the materials handling device,and/or the fork) of the handling robot may be controlled to perform theabove-described method.

The one or more processors of the handling robot may include aprocessing unit or processor of the detection assembly, and a maincontroller of the handling robot.

In an embodiment, the processor or processing unit of the detectionassembly may be integrated with a main controller (e.g., microprocessor,CPU, MCU, GPU, or VPU) of the handling robot, and the main controller isresponsible for calculation or analysis of the position offsets (orangle deviation amount) based at least in part on input or inputs fromone or more sensor (e.g., each or any combination of the camera, thelaser sensor, the infrared sensor, and the radio frequency transmitter).

However, in some embodiments, the processor or processing unit of thedetection assembly may be separate from the main controller of thehandling robot. The processor or processing unit of the detectionassembly may be used to make analysis or calculation of the positionoffsets (or angle deviation amount) based at least in part on thedetected input or inputs. After calculation or analysis is done, theresult of calculation or analysis may be sent from the detectionassembly to the main controller of the handling robot so that the maincontroller of the handling robot is able to control components of thehandling robot to move in one or more directions. The detection assemblymay include one or more processors or processing units, however, it isnot limited to the number of the processor or processing unit includedin the detection assembly. In this way, the computational amount of themain controller can be reduced.

It should be understood the handling robot is an automated vehicledisposed within a facility. Compared with the prior art, it is notnecessary for a driver to drive the vehicle. The handling robot isautomatedly controlled.

Finally, it should be noted that the above embodiments are only used toillustrate the technical solutions of the present application, not tolimit them. The technical features in the above embodiments or differentembodiments may also be combined.

The steps can be implemented in any order. For example, when thehandling robot 100 transports the inventory item on the warehouse shelfto the temporary storage unit, the step 2 or step 3 may be performedbefore step 1, and the step 3 may be performed before step 2.

There are many other variations in different aspects of the presentapplication as described above. For simplicity, they are not provided indetail; although the present application has been described in detailwith reference to the aforementioned embodiments, a person havingordinary skill in the art should understand that they may still modifytechnical solutions described in the aforementioned embodiments, orequivalently replace some of the technical features; and thesemodifications or replacements do not make the essence of thecorresponding technical solutions deviate from the scope of thetechnical solutions of the embodiments of the present application.

What is claimed is:
 1. A handling robot, comprising: a movable chassis;a storage frame supported by the movable chassis, the storage framebeing provided with a plurality of storage units; a material handlingdevice supported by the movable chassis and configured to move in avertical direction, the material handling device being configured totransport an inventory item between a shelf and one of the plurality ofstorage units; and a lifting assembly configured to drive the materialhandling device to move in the vertical direction; wherein the materialhandling device comprises: a support bracket configured to move in thevertical direction; and a fork supported by the support bracket andconfigured to rotate around the vertical direction relative to thesupport bracket; wherein the fork comprises: a temporary storage unitconfigured to temporarily store the inventory item on an upper side ofthe temporary storage unit, the temporary storage unit being configuredto support a weight of the inventory item; a telescopic arm configuredto extend or retract relative to the temporary storage unit, wherein thetelescopic arm comprises a first arm section and a second arm sectiondirectly or indirectly connected to the first arm section, the first armsection being directly or indirectly coupled to the temporary storageunit, the second arm section being movable relative to the first armsection; and a pusher assembly, wherein the pusher assembly comprises; apush rod fixedly installed to the second arm section, the push rod beingimmovable relative to the second arm section, the push rod beingconfigured to move together with the second arm section relative to thetemporary storage unit, the push rod being configured to push theinventory item away from the temporary storage unit when the telescopicarm is in a state where the telescopic arm is in a process of extendingrelative to the temporary storage unit; and a manipulator installed tothe second arm section, the manipulator being configured to fold orunfold relative to the second arm section, the manipulator beingconfigured to pull the inventory item to the temporary storage unit whenthe manipulator is in a state where the manipulator is unfolded relativeto the second arm section and the telescopic arm is in a state where thetelescopic arm is in a process of retracting relative to the temporarystorage unit.
 2. The handling robot according to claim 1, wherein thefork further comprises a U-shaped housing configured to house at least apart of the telescopic arm.
 3. The handling robot according to claim 1,wherein the telescopic arm is configured to extend in a single directionrelative to the temporary storage unit.
 4. The handling robot accordingto claim 1, wherein the handling robot is configured to control thetelescopic arm to extend based at least in part on a distance betweenthe fork and the inventory item.
 5. The handling robot according toclaim 4, wherein the material handling device comprises a detectionassembly configured to detect the distance; wherein the detectionassembly comprises at least one of a camera, a laser sensor, an infraredsensor, and a radio frequency transmitter.
 6. The handling robotaccording to claim 1, wherein the telescopic arm is configured to extendso that an extension amount of the telescopic arm is larger than adistance between the fork and the inventory item.
 7. The handling robotaccording to claim 1, wherein the material handling device furthercomprises a camera; wherein the camera is directly or indirectly coupledto the temporary storage unit and is disposed beneath a surface of thetemporary storage unit.
 8. A handling robot, comprising: a movablechassis comprising a base and a standing frame installed to the base; aplurality of storage units supported by the movable chassis; a materialhandling device configured to move along the standing frame, thematerial handling device being configured to transport an inventory itembetween a shelf and one of the plurality of storage units; and a liftingassembly configured to drive the material handling device to move alongthe standing frame; wherein the material handling device comprises: asupport bracket configured to move along the standing frame; a forkinstalled to the support bracket and configured to rotate around avertical direction relative to the support bracket; and a camera;wherein the fork comprises: a temporary storage unit configured totemporarily store the inventory item on the temporary storage unitduring transport of the inventory item; a telescopic arm directly orindirectly coupled to the temporary storage unit, the telescopic armbeing configured to extend or retract relative to the temporary storageunit in order to transport the inventory item; and a pusher assemblyinstalled to the telescopic arm and configured to push or pull theinventory item; wherein the camera is directly or indirectly coupled tothe temporary storage unit.
 9. The handling robot according to claim 8,wherein the camera is configured to rotate together with the fork aroundthe vertical direction relative to the support bracket when the fork isin a state where the fork is in a process of rotating.
 10. The handlingrobot according to claim 8, wherein the camera is mounted beneath asurface of the temporary storage unit.
 11. The handling robot accordingto claim 8, wherein the fork comprises a U-shaped housing provided withan opening, the telescopic arm being extendable in a single directionrelative to the temporary storage unit; wherein the camera is mounted toan end of the temporary storage unit, the end of the temporary storageunit being close to the opening.
 12. The handling robot according toclaim 8, wherein the camera is mounted in the middle of the temporarystorage unit.
 13. The handling robot according to claim 8, wherein alens of the camera is in a direction the same or substantially the sameas a direction of extension of the telescopic arm.
 14. The handlingrobot according to claim 8, wherein the camera is immovable relative tothe temporary storage unit.
 15. The handling robot according to claim 8,wherein the telescopic arm is configured to extend so that an extensionamount of the telescopic arm is larger than a distance between the forkand the inventory item.
 16. The handling robot according to claim 8,wherein the telescopic arm comprises: a first arm section directly orindirectly coupled to the temporary storage unit; and a second armsection connected to the first arm section and configured to moverelative to the first arm section; wherein the pusher assemblycomprises: a push rod fixedly mounted to the second arm section andconfigured to push the inventory item away from the temporary storageunit, the push rod being immovable relative to the second arm section,the push rod being movable together with the second arm section relativeto the temporary storage unit; and a manipulator mounted to the secondarm section, the manipulator being configured to fold or unfold relativeto the second arm section, the manipulator being configured to pull theinventory item to the temporary storage unit.
 17. The handling robotaccording to claim 8, wherein the material handling device is configuredto transport the inventory item from the shelf to the one of theplurality of storage units, a marker being arranged on the shelf;wherein the camera is configured to acquire an image of the markerarranged on the shelf; wherein the handling robot is configured tocontrol the material handling device to move along the standing framebased at least in part on a position offset so as to transport theinventory item from the shelf, the position offset reflecting a relativeposition between the material handling device and the inventory item inthe vertical direction, the position offset being calculated based atleast in part on the image of the marker.
 18. The handling robotaccording to claim 8, wherein the material handling device is configuredto transport the inventory item from the shelf to the one of theplurality of storage units; wherein the camera is configured to acquirean image containing the inventory item; wherein the handling robot isconfigured to control the movable chassis to move in a travellingdirection based at least in part on a position offset reflecting arelative position between the material handling device and the inventoryitem in the travelling direction, the position offset being calculatedbased at least in part on the image.
 19. The handling robot according toclaim 8, wherein the camera is aligned with a central axis of thetemporary storage unit.
 20. The handling robot according to claim 8,wherein the telescopic arm comprises: a first arm section directly orindirectly coupled to the temporary storage unit; and a second armsection movably connected to the first arm section; wherein the pusherassembly comprises: a push rod fixedly mounted to the second arm sectionand configured to push the inventory item away from the temporarystorage unit; and a manipulator mounted to the second arm section, themanipulator being configured to fold or unfold relative to the secondarm section, the manipulator being configured to pull the inventory itemto the temporary storage unit.
 21. The handling robot according to claim8, wherein the material handling device is configured to transport theinventory item from the shelf to the one of the plurality of storageunits; wherein the camera is configured to acquire an image containingthe inventory item; wherein the handling robot is configured to controlthe fork to rotate around the vertical direction based at least in parton an angle deviation amount between the material handling device andthe inventory item; wherein the angle deviation amount is calculatedbased at least in part on the image.
 22. A system for transporting aninventory item, the system comprising: a shelf, wherein the inventoryitem is placed on the shelf; and a handling robot configured totransport the inventory item from the shelf; wherein the handling robotcomprises: a movable chassis comprising a base and a standing frameinstalled to the base, the movable chassis being configured to move to aposition in front of the shelf; a material handling device configured tomove along the standing frame to a preliminary height; and a liftingassembly configured to drive the material handling device to move alongthe standing frame; wherein the material handling device comprises adetection assembly configured to determine a position offset reflectinga relative position between the material handling device and theinventory item in a vertical direction; wherein the handling robot isconfigured to control the material handling device to move along thestanding frame from the preliminary height based at least in part on theposition offset; wherein the material handling device further comprises:a support bracket configured to move along the standing frame; and afork installed to the support bracket and configured to rotate aroundthe vertical direction relative to the support bracket, the forkcomprising a U-shaped housing; wherein the fork further comprises: atemporary storage unit configured to temporarily store the inventoryitem during transport of the inventory item; a telescopic arm coupled tothe temporary storage unit and configured to extend in a singledirection relative to the temporary storage unit; and a pusher assemblyinstalled to the telescopic arm: wherein the telescopic arm comprises: afirst arm section directly or indirectly coupled to the temporarystorage unit; and a second arm section directly or indirectly connectedto the first arm section and configured to move relative to the firstarm section; wherein the pusher assembly comprises: a push rod fixedlymounted to the second arm section and configured to push the inventoryitem away from the temporary storage unit, the push rod being immovablerelative to the second arm section; and a manipulator mounted to thesecond arm section, the manipulator being configured to fold or unfoldrelative to the second arm section, the manipulator being configured topull the inventory item to the temporary storage unit.
 23. The systemaccording to claim 22, wherein the material handling device is furtherconfigured to move along the standing frame from the preliminary heightso that an update of the position offset is smaller than a predeterminedvalue.
 24. The system according to claim 22, further comprising a markerarranged on the shelf; wherein the detection assembly comprises a cameraconfigured to acquire an image of the marker; wherein the positionoffset is calculated based at least in part on the image of the marker.25. The system according to claim 24, wherein the marker comprises atwo-dimensional code label.
 26. The system according to claim 22,wherein the handling robot is configured to determine a relativeposition between the shelf and the inventory item.
 27. The systemaccording to claim 22, wherein the detection assembly comprises: acamera; and a processor, the processor comprising a built-in processingunit or a main controller of the handling robot.
 28. A system fortransporting an inventory item, comprising: a shelf, wherein theinventory item is placed on the shelf; and a handling robot configuredto transport the inventory item from the shelf; wherein the handlingrobot comprises: a movable chassis comprising a base and a standingframe installed to the base, the movable chassis being configured tomove to a position in front of the shelf; a material handling deviceconfigured to move along the standing frame to a preliminary height; anda lifting assembly configured to drive the material handling device tomove along the standing frame; wherein the material handling devicecomprises a detection assembly configured to determine a position offsetreflecting a relative position between the material handling device andthe inventory item in a vertical direction; wherein the materialhandling device is further configured to move along the standing framefrom the preliminary height in response to movement to the preliminaryheight, so that the position offset is smaller than a predeterminedvalue; wherein the material handling device further comprises: a supportbracket configured to move along the standing frame; and a forkinstalled to the support bracket and configured to rotate around thevertical direction relative to the support bracket, the fork comprisinga U-shaped housing provided with an opening; wherein the fork furthercomprises: a temporary storage unit configured to temporarily store theinventory item during transport of the inventory item; a telescopic armcoupled to the temporary storage unit and configured to extend in asingle direction relative to the temporary storage unit; and a pusherassembly installed to the telescopic arm: wherein the telescopic armcomprises a first arm section and a second arm section, the first armsection being coupled to the temporary storage unit, the second armsection being connected to the first arm section and configured to moverelative to the first arm section; wherein the pusher assemblycomprises: a push rod fixedly mounted to the second arm section andconfigured to push the inventory item, the push rod being immovable,relative to the second arm section; and a manipulator mounted to thesecond arm section, the manipulator being configured to fold or unfoldrelative to the second arm section, the manipulator being configured topull the inventory item.
 29. The system according to claim 28, furthercomprising a marker arranged on the shelf; wherein the detectionassembly comprises a camera configured to acquire an image of themarker; wherein the position offset is calculated based at least in parton the image of the marker.
 30. The system according to claim 29,wherein the marker comprises a two-dimensional code label.